CN106737629B - A kind of flexible arm linkage robot based on rope driving - Google Patents
A kind of flexible arm linkage robot based on rope driving Download PDFInfo
- Publication number
- CN106737629B CN106737629B CN201710114895.5A CN201710114895A CN106737629B CN 106737629 B CN106737629 B CN 106737629B CN 201710114895 A CN201710114895 A CN 201710114895A CN 106737629 B CN106737629 B CN 106737629B
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- China
- Prior art keywords
- rope
- central connector
- driving
- connector
- center knuckle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The present invention relates to robot fields, disclose a kind of flexible arm linkage robot based on rope driving, including cooperating joint section, driving rope, drive module and end executive device, cooperating joint section includes several sub- joints being connected in series, it is rotatablely connected between sub- joint, several cooperating joint sections are connected in series, it is rotatablely connected between adjacent cooperating joint section, driving rope is connected in each cooperating joint section, the driving rope drives each sub- joint in cooperating joint section to occur in the same direction and with the rotation of angle under the driving of drive module, it can be separated from each other between driving rope and drive module.The present invention can reduce the usage quantity of motor and the quality of mechanical arm compared with the existing technology, so as to improve response speed;The scheme using cooperating joint is needed, the joint in joint segments is coupled together by linkage mechanism, realizes the joint motions in the directions such as iso-curvature;The rigidity of mechanical arm is strong, high load capacity, and end precision is high.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to the joint segments or joint group of composition flexible arm.
Background technique
It is different from traditional joint tandem type mechanical arm, flexible mechanical arm has many advantages, such as flexibility ratio height, and obstacle avoidance ability is strong,
Movement and operational capacity under restricted clearance or hazardous environment is strong, in necks such as aerospace manufacture, Large-Scale Equipment detection maintenances
Domain has important application value.
In the prior art, each joint junction of flexible mechanical arm is independent driving, though the superfluous of whole arm can be improved
Remaining, but also will increase the number of driving motor accordingly, the control difficulty of mechanical arm can be both improved, while also will increase whole arm
Weight and cost.
For solve the problems, such as driving motor number it is more this, currently existing scheme is to increase the elasticity member such as spring between joint
Part controls one section of arm as a control unit, or directly with flexible structures such as Nitinol or elastic materials
It is controlled as arm matrix, realizes the amoeboid movement of class circular arc, but shape and circular arc during such mechanical arm actual motion
There are deviations between shape, and end precision is not high, while load capacity is not strong, it is difficult to meet the needs of people.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of flexible arm linkage robot based on rope driving.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of flexible arm linkage robot based on rope driving, including cooperating joint section, driving rope, drive module and end
Hold executive device, wherein cooperating joint section includes several sub- joints being connected in series, and is rotatablely connected between sub- joint, several linkages
Joint segments are connected in series, and are rotatablely connected between adjacent cooperating joint section, corresponding in each cooperating joint section to be connected with driving rope, should
Driving rope drives each sub- joint in corresponding cooperating joint section to occur to turn in the same direction and with angle under the driving of drive module
It is dynamic, and then the end executive device movement being connected in the cooperating joint section of least significant end is driven, between driving rope and drive module
It can be to be separated from each other;
The sub- joint for constituting cooperating joint section includes the end joints being sequentially connected in series, the first center knuckle, the second center pass
Section, third center knuckle and the 4th center knuckle, and from end joints to the 4th center knuckle, it is successively arranged between adjacent segment
End coupling, the first central connector, the second central connector and third central connector, cooperating joint section further include short
Connector between running rope, long linkage rope and section, wherein
End joints are affixed with end coupling;Along first direction, the both ends of the first center knuckle are connect with end respectively
Part, the rotation connection of the first central connector;The both ends of third center knuckle are connect with the second central connector, third center respectively
Part rotation connection;It is relatively fixed between the both ends of second center knuckle and the first central connector, the second central connector, the 4th
It is relatively fixed between center knuckle and third central connector;
Between end coupling and the first central connector and between the second central connector and third central connector
It is connected by short linkage rope, is connected between end coupling and third central connector by long linkage rope respectively, so that from end
Portion joint can occur between the adjacent segment into the 4th center knuckle along the in the same direction of first direction and with the rotation of angle;
Section between connector be set between the 4th center knuckle and the end joints of latter cooperating joint section, and with latter linkage
The end joints of joint segments are fixedly connected;Along first direction, connector is relatively fixed between the 4th center knuckle and section;Edge and first
The vertical second direction in direction, connector is rotatablely connected between the 4th center knuckle and section;
It is respectively provided with wire casing along first direction on end coupling and the first central connector, connects end coupling and first
The short linkage rope of central connector is two and to be symmetrically set, the both ends of short linkage rope respectively with end coupling, first
Central connector is fixedly connected, around the line reversely bypassed again on the first central connector after the wire casing on end coupling
Slot, so that end coupling is opposite with the rotation direction of the first central connector;
Wire casing, the connection of the second center of connection are respectively provided with along first direction on second central connector and third central connector
The short linkage rope of part and third central connector is two and is symmetrically set, the both ends of short linkage rope respectively with the second center
Connector, third central connector are fixedly connected, around reversely bypassing in third again after the wire casing on the second central connector
Wire casing on heart connector, so that the second central connector is opposite with the rotation direction of third central connector.
Mode as a further improvement of the foregoing solution, end coupling with it is each along first direction on third central connector
Equipped with wire casing, the long linkage rope for connecting end joints and third central connector is two and is symmetrically set, long linkage rope
Both ends be fixedly connected respectively with end joints, third central connector, around reversed again after the wire casing on end coupling
Around the wire casing on third central connector, so that end coupling is opposite with the rotation direction of third central connector.
Mode as a further improvement of the foregoing solution, in a second direction, the both ends of the second center knuckle are respectively with first
Central connector, the rotation connection of the second central connector;The both ends of 4th center knuckle respectively with third central connector, Duan Jian
Connector rotation connection;Relatively fixed, third between the both ends of first center knuckle and end coupling, the first central connector
It is relatively fixed between center knuckle and the second central connector, third central connector;
Between first central connector and the second central connector and between third central connector and section between connector
It is connected by short linkage rope, is connected between the first center knuckle and the end joints of latter cooperating joint section by long linkage rope respectively
Connect so that from the adjacent segment of the end joints of latter cooperating joint section into the first center knuckle of previous cooperating joint section it
Between rotation in the same direction and with angle in a second direction can occur.
Mode as a further improvement of the foregoing solution, including the tensioning apparatus for adjusting short linkage rope tensioning degree,
Tensioning apparatus includes the guide rod along the setting of joint segments length direction, and the guide sleeve that can be slided along guide rod, guide sleeve were equipped with
Hole, short linkage rope are threaded through in via hole, and the sliding sleeve that can reduce frictional force is additionally provided between via hole and short linkage rope.
Mode as a further improvement of the foregoing solution, including the tensioning apparatus for adjusting long linkage rope tensioning degree,
Tensioning apparatus includes that screw rod, adjusting nut and top cylinder, screw rod are fixed on end joints along the length direction of cooperating joint section, is pushed up
Cylinder is socketed on screw rod, and adjusting nut is spun on the lower section on screw rod and being located at top cylinder, and the opposite top cylinder in the end of long linkage rope is fixed.
Mode as a further improvement of the foregoing solution, cooperating joint section are correspondingly provided with the driving of at least three self-movements
Rope, driving rope are along the circumferential direction distributed, end joints, the first center knuckle, the second center knuckle, third center knuckle and the 4th
Center knuckle respectively includes line-crossing disk, and circumferentially arranged with several cable-through holes on line-crossing disk, driving rope is at least closed from the first center
The connecting portion saved to any one group of adjacent center joint among the 4th center knuckle passes through, and extremely holds with third center knuckle
Any one joint in portion joint is affixed.
Mode as a further improvement of the foregoing solution, drive module include bracket and corresponding with driving rope quantity dynamic
Power device, Qin Shi mechanism and elastic component, Qin Shi mechanism include card line plate, card line panel seat and torsional spring, and elastic component is fixed on corresponding drive
The end of running rope is fixed with terminal on driving rope, power device is fixed on bracket, for driving card line plate to tense driving rope
Seat is moved along the telescopic direction of driving rope, and card line plate is rotatably connected on card line panel seat, and is supported with torsional spring, which stretches out
There are the first arm and the second arm, the second arm is equipped with the rope groove of matching driving rope, and the terminal of terminal is connected to and matched with rope groove
Slot, wherein when drive module is in running order, terminal is caught in terminal groove, and card line plate is by executing dress towards far from end
The movement in direction is set to pull driving to restrict;When drive module needs to separate with driving rope, card line plate is held by court by proximal end
Luggage sets the movement in direction so that terminal is exited out of terminal groove, subsequent card line plate entirely through the first arm and supporting for bracket and
It rotates, the torsional spring is compressed during rotation, and driving rope is exited out of rope groove;When bracket is separated with the first arm,
Card line plate resets under the action of torsional spring.
The beneficial effects of the present invention are:
The usage quantity of motor and the quality of mechanical arm can be reduced, compared with the existing technology so as to improve response speed
Degree;The scheme using cooperating joint is needed, the joint in joint segments is coupled together by linkage mechanism, realizes the side such as iso-curvature
To joint motions;The rigidity of mechanical arm is strong, high load capacity, and end precision is high.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the stereoscopic schematic diagram of one embodiment of the invention;
Fig. 2 is the stereoscopic schematic diagram of cooperating joint section one embodiment of the present invention;
Fig. 3 is the front view of cooperating joint section one embodiment of the present invention;
Fig. 4 is the connection schematic diagram in cooperating joint section medial end portions joint of the present invention, the first center knuckle and end coupling;
Fig. 5 is that the invention shows the cross-sectional views of connection relationship between short linkage rope and joint;
Fig. 6 is the rearview in Fig. 3;
Fig. 7 is the front view of second embodiment of cooperating joint section of the present invention;
Fig. 8 is the rearview in Fig. 7;
Fig. 9 is the connection schematic diagram in joint of the present invention and driving rope;
Figure 10 is the stereoscopic schematic diagram of drive module of the present invention;
Figure 11 is the scheme of installation of card line plate in drive module of the present invention;
Figure 12 is partial schematic diagram when drive module of the present invention is in discrete state.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that the case where not conflicting
Under, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as upper and lower, left and right used in invention are only the mutual alignment pass relative to each component part of the present invention in attached drawing
For system.
In addition, unless otherwise defined, the technology of all technical and scientific terms used herein and the art
The normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the present invention.Term " and or " used herein includes the arbitrary of one or more relevant listed items
Combination.
Referring to Fig.1, the stereoscopic schematic diagram of one embodiment of the invention is shown.As shown, the present invention includes that linkage is closed
Segment 1, drive module 2, end executive device 3 and connection cooperating joint section 1, drive module 2 several driving ropes (do not show
Out), wherein cooperating joint section 1 includes several sub- joints being connected in series, and is rotatablely connected between sub- joint.Several cooperating joint sections 1
It is connected in series, and is rotatablely connected between adjacent cooperating joint section.It is corresponding in each cooperating joint section 1 to be connected with driving rope, it is driving
Under the driving of rope, each sub- joint in same cooperating joint section 1 occurs in the same direction and with the rotation of angle, different cooperating joints
It equally can also rotate between section 1, to realize the free movement of end executive device 3.End in the present invention executes dress
Setting 3 can be charger.
Referring to Fig. 2, Fig. 3, respectively illustrates the stereoscopic schematic diagram of cooperating joint section one embodiment of the present invention and face
Figure.As shown, the sub- joint for constituting cooperating joint section includes the end joints 11 being sequentially connected in series, the first center knuckle 21, the
Two center knuckles 22, third center knuckle 23 and the 4th center knuckle 24, and from 11 to the 4th center knuckle 24 of end joints, phase
End coupling 41, the first central connector 51, the second central connector 52 is successively arranged between adjacent joint to connect with third center
Fitting 53, cooperating joint section further include connecting between short linkage rope 31, short linkage rope 32, short linkage rope 33, short linkage rope 34 and section
Part 42.Under the connection function of above-mentioned short linkage rope and unshowned long linkage rope, entire joint segments are in linkage status,
I.e. any one joint motions is responsible for occurring between adjacent segment in the same direction and with the rotation of curvature.
Specifically, end joints 11 and end coupling 41 are affixed, i.e., end joints 11 can be integrated with end coupling 41
Movement.Along first direction (first direction be in figure shaft L1 rotation direction), the both ends of the first center knuckle 21 respectively with
End coupling 41, the rotation connection of the first central connector 51;The both ends of third center knuckle 23 are connect with the second center respectively
Part 52, third central connector 53 are rotatablely connected.The both ends of second center knuckle 22 and the first central connector 51, the second center
It is relatively fixed between connector 52, it is relatively fixed between the 4th center knuckle 24 and third central connector.
The connection type between cooperating joint section is also shown in Fig. 2, Fig. 3, i.e., leads between adjacent both ends cooperating joint section
Connector is attached between crossing section, specifically, between section connector be set to this section of cooperating joint section the 4th center knuckle with it is latter
(direction of front and back provides as follows in the present invention: the side by proximal end executive device is front to cooperating joint section, is held far from end
The side that luggage is set is rear, similarly hereinafter) end joints between, and with the end joints 11 of latter cooperating joint section are fixed connects
It connects.Along first direction, connector 42 is relatively fixed between the 4th center knuckle 24 and section;Along the second direction vertical with first direction
(rotation direction that first direction is the shaft L2 in figure)), connector 42 is rotatablely connected between the 4th center knuckle 24 and section.
How to be attached by connector between joint to further illustrate, referring to Fig. 4, it is same to show the present invention
Movable joint section inner end joint, the first center knuckle and end coupling connection schematic diagram.As shown, end coupling 41
Framework 411 including rectangle, the surrounding side wall of framework 411 are equipped with the disk 412 of integral type, disk 412 be equipped with wire casing with
And shaft hole and/or mounting hole.End joints 11, the main structure of the first center knuckle 21 are identical, include one cylindrical
Hinged seat is stretched out at main body, main body both ends, and the periphery at main body both ends is equipped with line-crossing disk, was along the circumferential direction equipped with line on line-crossing disk
Hole, cable-through hole on the one hand can for following drivings restrict across, to driving rope limit, on the other hand can also be used as driving restrict
Connection structure between joint.Hinged seat on end joints 11 is arranged with respect to the two opposite side walls of framework 411, and passes through pin
Nail is fixedly connected with corresponding disk 412;The other two opposite side walls of hinged seat in first center knuckle 21 with respect to framework 411
Setting, and be rotatablely connected by pin with corresponding disk 412.
Preferably, the end joints 11 in the present invention, the first center knuckle 21, the second center knuckle 22, third center are closed
Section 23 and the 4th center knuckle 24 can use identical structure, similar, end coupling 41, the first central connector
51, connector 42 can also use identical structure between the second central connector 52 and third central connector 53 and section,
To increase interchangeability.
Referring to Fig. 5 and Fig. 3, Fig. 5 is combined to show that the invention shows the section views of connection relationship between short linkage rope and joint
Figure.As shown, the top a of short linkage rope 31 is fixedly connected with the left side of end coupling 41, bottom end b then connects with the first center
The right side of fitting 51 is fixedly connected, and short linkage rope 31 clockwise direction first along figure is wound on the disk on end coupling 41
In 412 wire casing, then direction counterclockwise along figure is wound in the wire casing of the disk 412 on the first central connector 51 again;
The top c of short linkage rope 32 is fixedly connected with the right side of end coupling 41, the then left side with the first central connector 51 bottom end d
It being fixedly connected, the direction that short linkage rope 32 is counterclockwise first along figure is wound in the wire casing of the disk 412 on end coupling 41,
Then clockwise direction is wound in the wire casing of the disk 412 on the first central connector 51 along figure again.Short linkage rope 31 with
Short linkage rope 32 symmetrical simultaneously intersects, and the connection relationship, movement relation of the two are identical, therefore by taking short linkage rope 31 as an example
Illustrate that end joints 11, end coupling 41, the first center knuckle 21, the first central connector 51 and the second center knuckle 22 are logical
Too short linkage rope 31 realizes the working principle of linkage:
Since the top a of short linkage rope 31 is fixedly connected with end coupling 41, therefore top a can be with end coupling 41
Rotation and along the circumferential direction move, when end coupling 41 is towards left pivot movement, top a decline, while the first center being pulled to connect
Fitting 51, towards left pivot movement, can also be regarded as opposite first central connector of the first center knuckle 21 with respect to the first center knuckle 21
51 towards left pivot movement, so just realizes between end coupling 41 and the first center knuckle 21 and the first center knuckle 21
To rotating in same direction between the first central connector 51, and since end joints 11 are solid along first direction opposed end connector 41
Fixed, the first center knuckle 22 is fixed with respect to the first central connector 51 along first direction, therefore end joints 11, first may be implemented
Center knuckle 21 rotates in same direction with the second center knuckle 22;Further, since the overall length of short linkage rope 31 is certain, therefore end connects
The rotational angle of part 41 is equal to the rotational angle of the first central connector 51.To sum up, end joints 11, the first center knuckle 21 with
Second center knuckle 22 can occur in the same direction and with the rotation of angle.
As a kind of preferred connection type of short linkage rope and connector, connector (i.e. above-mentioned end coupling and
One central connector) it is equipped with threaded hole, threaded hole is internally screwed with screw, and screw is equipped with radial through-hole, and short linkage rope passes through
It is connected on pin after through-hole by the metal ball-head of end.
As another preferred connection type of short linkage rope and connector, threaded hole, screw thread are again provided on connector
Hole is internally screwed with screw, and screw is equipped with axial threaded hole, and the radial through-hole being connected to the axial threaded hole, short linkage rope
Across radial through-hole, fixation is held out against by the jackscrew being spun in axial threaded hole.Preferably, thin-wall metal is additionally provided in radial through-hole
Pipe, short linkage rope are threaded through in thin metallic tubd, and jackscrew squeezes thin metallic tubd and deforms until holding out against short linkage rope, thin-walled
Metal tube can play certain protective role to rope, rope be damaged during avoiding jackscrew from being screwed into, while metal cylinder is pressed
Also the fixed function to rope can be enhanced after tight deformation.
In the joint segments other end, short linkage rope 33, short linkage rope 34 are separately connected the second central connector 52 and third
Central connector 53, connection type, arrangement are identical as above-mentioned short linkage rope 31, short linkage rope 32, herein just not
It repeats one by one.Short linkage rope 33, short linkage rope 34 linkage effect under, the second center knuckle 22, third center knuckle 23 with
It can also occur between 4th center knuckle 24 along the in the same direction of first direction and with the rotation of angle.
Referring to Fig. 6, the rearview in Fig. 3 is shown.As shown, the present invention is additionally provided with long linkage in addition to linkage rope
Rope, the top e of long linkage rope 61 are fixed on the left side of end joints 11, and bottom f is fixed on the right side of third central connector 53,
By wire casing, then the clockwise direction along figure passes through line around the disk 412 on end coupling 41 to long linkage rope 61 again
Around the disk 412 on third central connector 53, long linkage rope 62 and long linkage rope 61 are excellent in slot direction counterclockwise along figure
Choosing is symmetrical arranged and intersects, it is preferred that long linkage rope 62 is threaded through within hose with long linkage rope 61, to avoid linkage rope
Between and linkage rope and joint between rub.In this way, when end joints 11 are rotated relative to the first center knuckle 21, also
Third central connector 53 can be driven to rotate relative to third center knuckle 23, junction end joint 11, the first center knuckle 21
Linkage and the second center knuckle 22, third center knuckle 23 and the 4th center knuckle 24 between the second center knuckle 22
Between linkage, entire joint segments can in one direction iso-curvature be bent.
The present invention includes the tensioning apparatus for adjusting short linkage rope tensioning degree, as shown in figure 5, tensioning apparatus includes setting
In in the first center knuckle 21 and the guide rod 71 in third center knuckle 23 and the guide sleeve 72 that can be slided along guide rod 71, guide sleeve 72
It is screwed with screw, the end of screw supports after passing through guide sleeve with guide rod 71, so that guide sleeve 72 is fixed on guide rod 71.On guide sleeve 72
Equipped with via hole, linkage rope is threaded through in via hole, can adjust the tensioning journey of linkage rope along the sliding of guide rod 71 by guide sleeve 72
Degree.It is additionally provided with the sliding sleeve that can reduce frictional force between via hole and short linkage rope, avoids short linkage rope and hole wall friction and reduces connection
The service life of running rope, the sliding sleeve in the present embodiment preferably use Teflon casing.
The present invention includes the tensioning apparatus for adjusting long linkage rope tensioning degree, as shown in fig. 6, tensioning apparatus includes spiral shell
Bar 73, adjusting nut 74 and top cylinder 75, screw rod 73 are fixed on end joints 11 along the length direction of joint segments, and top cylinder 75 is socketed
On screw rod 73, adjusting nut 74 is spun on the lower section on screw rod 73 and being located at top cylinder 75, and the end of long linkage rope passes through top cylinder 75
It is fixed afterwards with a terminal.Top cylinder 75 can be pushed to go up and down by turn adjusting nut 74, and then push the end of long linkage rope
Lifting is to have the function that the long linkage rope of tensioning.
Cooperating joint section in above-described embodiment only may be implemented to interlock with the rotation in a first direction, further, this hair
The bright one kind that also discloses can realize the embodiment to interlock with the rotation in two directions.Referring to Fig. 7, shows present invention linkage and close
The front view of second embodiment in segment, the difference with one embodiment be further include have be arranged in a second direction it is short
Linkage rope 35, short linkage rope 36, short linkage rope 37, short linkage rope 38, long linkage rope 63 and long linkage rope 64, Fig. 7 can be considered as
The left view after short linkage rope and long linkage rope in Fig. 3 increase in a second direction.
As shown, in a second direction, the both ends of the second center knuckle 22 are respectively and in the first central connector 51, second
Heart connector 52 is rotatablely connected;The both ends of 4th center knuckle 24 42 turns of connector between third central connector 53, section respectively
Dynamic connection.It closes between the both ends of first center knuckle 21 and end coupling 41, the first central connector 51 and third center
It is relatively fixed between section 23 and the second central connector 52, third central connector 53.
According to connection type identical with above-mentioned short linkage rope, short linkage rope 35, short linkage rope 36 are for connecting in first
Heart connector 51 and the second central connector 52, to realize the first center knuckle 21, the second center knuckle 22 and third center
Same curvature rotation in the same direction between joint 23 in a second direction.Short linkage rope 37, short linkage rope 38 are for connector between linkage section
42 with third central connector 53, thus realize latter cooperating joint section end joints 11 and previous cooperating joint section the 4th
Same angular turn in the same direction between center knuckle 24, third center knuckle 23 in a second direction.
Referring to Fig. 8, the rearview in Fig. 7 is shown.As shown, long linkage rope 63, long linkage rope 64 are according to above-mentioned length
The end joints 11 that the connection type of linkage rope connects latter cooperating joint section are connect with the first center of previous cooperating joint section
Part 51.In this way, the end joints 11 when latter cooperating joint section are rotated relative to the 4th center knuckle 24 of previous cooperating joint section
When, the first central connector 51 of previous cooperating joint section can also be driven to rotate relative to the first center knuckle 21, in conjunction with latter
Connection between 4th center knuckle 24 of the end joints 11 of cooperating joint section and previous cooperating joint section, third center knuckle 23
The dynamic and linkage between the first center knuckle 21, the second center knuckle 22 and third center knuckle 23, from the first center knuckle
21 may be implemented rotation in the same direction and with angle in a second direction to the end joints 11 of latter cooperating joint section.
To sum up, the joint segments in the present embodiment may be implemented to be bent along first direction and the iso-curvature of second direction.
The present invention is additionally provided with the driving rope of driving joint motions, referring to Fig. 9, shows the company in joint of the present invention and driving rope
Schematic diagram is connect, the end joints of latter cooperating joint section are concealed in figure.As shown, being directed to second embodiment, correspondence is each
Cooperating joint section is equipped with the driving rope 91 of at least three self-movements, and driving rope 91 is along the circumferential direction distributed.Driving rope 91 is at least
Passed through from the connecting portion of any one group of adjacent segment among 21 to the 4th center knuckle 24 of the first center knuckle, and with from
Any one joint of three center knuckles 23 into end joints 11 is affixed.Since entire joint segments are in linkage status, therefore drive
The movement of entire joint segments can be realized by moving one of joint motions.
As a kind of preferred connection type of driving rope, driving rope, which first passes through, is located at each of corresponding cooperating joint section rear
Then the cable-through hole of joint segments sequentially passes through the 4th center knuckle 24, third center knuckle 23, in this section of cooperating joint section
The cable-through hole of two center knuckles 22 and the first center knuckle 21, it is finally affixed with end joints 11.In this way, driving rope is on the one hand
End joints 11 can be directly driven, can also be led to during on the other hand driving rope slides in the cable-through hole in other joints
The interaction force for crossing contact site indirectly drives corresponding joint, realizes the iso-curvature in the same direction bending of joint segments.
As the preferred connection type of another kind of driving rope, driving rope, only need to be from without the cable-through hole for needing guiding through all joints
Any one group of adjacent segment, company of the driving rope from this group of adjacent segment are selected in first center knuckle, 21 to the 4th center knuckle 24
Socket part position passes through, and affixed with any one joint of third center knuckle 23 into end joints 11, and such as driving rope extends only through
Then the cable-through hole of 4th center knuckle 24,23 adjacent end portion of third center knuckle is fixed on third center knuckle 23, drive
The remainder of running rope is through within metal hose, joint segments root joint is directed to by metal hose, across root joint
It is connect again with drive module after cable-through hole.Metal hose can bend, but length will not occur because of extruding in the axial direction
Variation.
Referring to Fig.1 0, the stereoscopic schematic diagram of drive module one embodiment of the present invention is shown, conceals shell in figure.Such as
Shown in figure, drive module includes bracket 81 and power device 82 corresponding with driving 91 quantity of rope, card line module 83 and elasticity
Part 84.
Specifically, main load carrier of the bracket 81 as drive module, including the first bottom plate 811, the second bottom plate 812,
Third bottom plate 813 and support plate 814, the first bottom plate 811, the second bottom plate 812 are parallel to each other with third bottom plate 813, the first bottom plate
811 and second bottom plate 812 apparent surface on be equipped with boss, several slots is uniformly provided with along the circumferential direction of boss, it is several
Fagging 814 is vertically mounted between the first bottom plate 811 and the second bottom plate 812, and support plate 814 is by being plugged in associated socket
Mode realizes the fast assembling-disassembling with the first bottom plate 811, the second bottom plate 812.
Telescopic direction of the power device 82 for driving card wire module 83 along driving rope moves, specifically, including motor
821, screw rod 822, screw rodb base 823 and sliding rail 824, motor 821 is between the second bottom plate 812, third bottom plate 813, driving
Axis is connect with screw rod 822 by shaft coupling, and screw rod 822, screw rodb base 823 and sliding rail 824 are located at the first bottom plate 811, the second bottom plate
Between 812, screw rod 822 is threadedly coupled with screw rodb base 823, and sliding rail 824 is parallel with screw rod 822, and card line module 83 is fixed on screw rod
It is slidably connected on seat 823 and by slide with sliding rail 824, with the rotation of motor 821, screw rodb base 823 can drive card line mould
Block 83 moves up and down along screw rod.
Elastic component 84 is preferably rubber band, is fixed with the end of driving rope 91 to tense and drive rope 91, on driving rope 91
It is fixed with terminal 92.
Referring to Fig.1 1, show the stereoscopic schematic diagram of card line module of the present invention.As shown, card line module includes card line plate
831, card line panel seat 832, torsional spring 833 and shaft 834.Card line plate 831 is rotatably connected on card line panel seat 832 by shaft 834,
And it is supported with torsional spring 833.Card line plate 831 is extended with the first arm 8311 and the second arm 8312, and the first arm 8311 is located at the second arm
8312 top.The end of first arm 8311 is preferably provided with idler wheel 8314, and the second arm 8312 is equipped with the terminal groove of matching terminal
8313, and above terminal groove and the rope groove (not shown) that communicates therewith, terminal groove and rope groove the second arm side shape
At the opening for 91 disengaging of driving rope.
Arc-shaped sliding slot is additionally provided on card line panel seat 832, one end of shaft 834 is plugged in sliding slot, to limit card
The rotational angle of line plate 831.
Preferably, the circumferencial direction of multiple groups power device 82, card line module 83 with elastic component 84 along bracket is uniformly distributed.
In conjunction with above-mentioned bracket 81, power device 82, the structure of card line module 83 and elastic component 84, illustrate drive module below
Working method: when drive module is in running order, the shape shown in Fig. 9 under the supporting of torsional spring 833 of card line plate 831
State, i.e. 8312 level of approximation of the second arm are stretched out, and the first arm 8311 stretches out obliquely upward, and terminal 92 is under the second arm 8312 at this time
Side is caught in terminal groove, therefore card line plate 831 can be by pulling driving rope 91 towards the movement far from 3 direction of end executive device.
When drive module needs to separate with driving rope, card line plate 831 is first towards direction (the i.e. court of end executive device 3
On) movement, terminal 92 is gradually exited out of terminal groove, when the top that card line plate 83 moves upwards, the first arm 8311 and first
Bottom plate 811 supports, so that card line plate 83 be driven integrally to rotate down (as shown in figure 12), driving rope 91 is gradually from card line plate 831
Rope groove in exit, at this time driving rope completely disengaged with drive module, can very easily replace driving restrict and joint segments.This
Outside.Card line plate 831 compresses torsional spring 833 during rotation, when the first bottom plate 811 is separated with the first arm 8311, card line plate 831
It is resetted under the action of torsional spring 833, so that driving rope 91 be made to reenter in rope groove.
Quick separating and connection between flexible arm may be implemented in drive module in the present invention, to help to drive
The quick-replaceable of module and flexible arm, it is easy to operate, quick.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (7)
- The robot 1. a kind of flexible arm based on rope driving links, which is characterized in that including cooperating joint section, driving rope, drive Dynamic model block and end executive device, wherein the cooperating joint section includes several sub- joints being connected in series, between the sub- joint Rotation connection, several cooperating joint sections are connected in series, and are rotatablely connected between the adjacent cooperating joint section, each described Corresponding in movable joint section to be connected with the driving rope, which drives corresponding described under the driving of the drive module Each sub- joint in movable joint section occurs in the same direction and with the rotation of angle, and then drives the linkage for being connected to least significant end End executive device movement in joint segments, can be separated from each other between the driving rope and the drive module;The sub- joint for constituting the cooperating joint section includes the end joints being sequentially connected in series, the first center knuckle, the second center pass Section, third center knuckle and the 4th center knuckle, and from the end joints to the 4th center knuckle, between adjacent segment It is successively arranged end coupling, the first central connector, the second central connector and third central connector, the cooperating joint Section further includes connector between short linkage rope, long linkage rope and section, whereinThe end joints and end coupling are affixed;Along first direction, the both ends of first center knuckle respectively with it is described End coupling, the rotation connection of the first central connector;The both ends of the third center knuckle connect with second center respectively Fitting, the rotation connection of third central connector;The both ends of second center knuckle and first central connector, in second It is relatively fixed between heart connector, it is relatively fixed between the 4th center knuckle and the third central connector;Between the end coupling and first central connector and in second central connector and the third It is connected respectively by the short linkage rope between heart connector, passes through institute between the end coupling and third central connector Long linkage rope connection is stated, so as to which edge can occur between the adjacent segment into the 4th center knuckle from the end joints The rotation in the same direction and with angle of the first direction;Connector is set between the 4th center knuckle and the end joints of the latter cooperating joint section between described section, and with The end joints of the latter cooperating joint section are fixedly connected;Along the first direction, the 4th center knuckle with described section Between connector it is relatively fixed;Along the second direction vertical with the first direction, connect between the 4th center knuckle and described section Fitting rotation connection;It is respectively provided with wire casing along the first direction on the end coupling and the first central connector, connects the end connection The short linkage rope of part and first central connector is two and is symmetrically set that the both ends of the short linkage rope are divided It is not fixedly connected with the end coupling, the first central connector, around anti-again after the wire casing on the end coupling To the wire casing bypassed on first central connector, so that the rotation direction of the end coupling and the first central connector On the contrary;Wire casing, connection described second are respectively provided with along the first direction on second central connector and third central connector The short linkage rope of central connector and the third central connector is two and is symmetrically set, the short linkage rope Both ends be fixedly connected respectively with second central connector, third central connector, around second center connect Again reversely around the wire casing on the third central connector after wire casing on part, so that second central connector and third The rotation direction of central connector is opposite.
- The robot 2. flexible arm according to claim 1 based on rope driving links, which is characterized in that the end connects It is respectively provided with wire casing along the first direction on fitting and third central connector, connects the end joints and the third center The long linkage rope of connector is two and is symmetrically set that the both ends of the long linkage rope are closed with the end respectively Section, third central connector are fixedly connected, around reversely bypassing in the third again after the wire casing on the end coupling Wire casing on heart connector, so that the end coupling is opposite with the rotation direction of third central connector.
- The robot 3. flexible arm according to claim 1 or 2 based on rope driving links, which is characterized in thatAlong the second direction, the both ends of second center knuckle connect with first central connector, the second center respectively Fitting rotation connection;Connector rotation connects between the third central connector, section respectively at the both ends of 4th center knuckle It connects;Relatively fixed, the third between the both ends and the end coupling, the first central connector of first center knuckle It is relatively fixed between center knuckle and second central connector, third central connector;Between first central connector and second central connector and the third central connector with described section Between connected respectively by the short linkage rope between connector, the end joints of the first center knuckle and latter cooperating joint section it Between connected by the long linkage rope so that from the end joints of latter cooperating joint section into the first of previous cooperating joint section It can occur between adjacent segment in heart joint along the in the same direction of the second direction and with the rotation of angle.
- The robot 4. flexible arm according to claim 1 based on rope driving links, which is characterized in that including for adjusting The tensioning apparatus of the short linkage rope tensioning degree is saved, the tensioning apparatus includes being arranged along cooperating joint segment length direction Guide rod, and the guide sleeve that can be slided along the guide rod, the guide sleeve be equipped with via hole, and the short linkage rope is threaded through described In via hole, the sliding sleeve that can reduce frictional force is additionally provided between the via hole and short linkage rope.
- 5. it is according to claim 1 or 2 based on rope driving flexible arm link robot, which is characterized in that including with In the tensioning apparatus for adjusting the long linkage rope tensioning degree, the tensioning apparatus includes screw rod, adjusting nut and pushes up cylinder, described Screw rod is fixed on the end joints along the length direction of the cooperating joint section, and the top collet connects on the screw rod, The adjusting nut is spun on the screw rod and is located at the lower section of the top cylinder, the relatively described top cylinder in the end of the long linkage rope It is fixed.
- The robot 6. flexible arm according to claim 3 based on rope driving links, which is characterized in that the linkage is closed Segment is correspondingly provided with the driving rope of at least three self-movements, and the driving rope is along the circumferential direction distributed, and the end is closed Section, the first center knuckle, the second center knuckle, third center knuckle and the 4th center knuckle include line-crossing disk, described to cross line Circumferentially arranged with several cable-through holes on disk, the driving rope is at least among first center knuckle to the 4th center knuckle The connecting portion in any one group of adjacent center joint pass through, and it is any one into end joints with the third center knuckle A joint is affixed.
- The robot 7. flexible arm according to claim 1 or 2 based on rope driving links, which is characterized in that the drive Dynamic model block include bracket and with the corresponding power device of driving rope quantity, Qin Shi mechanism and elastic component, it is described to catch the machine of releasing Structure includes card line plate, card line panel seat and torsional spring, and the elastic component is fixed on the end of the corresponding driving rope to tense the drive Running rope is fixed with terminal on driving rope, and the power device is fixed on the bracket, for driving the card line panel seat Telescopic direction along the driving rope moves, and the card line plate is rotatably connected on the card line panel seat, and is supported with the torsional spring Hold, which is extended with the first arm and the second arm, and second arm is equipped with the rope groove for matching the driving rope, and with institute It states rope groove connection and matches the terminal groove of the terminal, wherein when the drive module is in running order, the terminal card Enter in the terminal groove, the card line plate is by the movement towards separate end executive device direction to pull the driving Rope;When the drive module needs to separate with driving rope, the card line plate passes through towards close to the end executive device The movement in direction is so that the terminal is exited out of described terminal groove, and subsequent card line plate is entirely through first arm and bracket It supports and rotates, the torsional spring is compressed during rotation, and the driving rope is exited out of described rope groove;When the branch When frame is separated with first arm, the card line plate resets under the action of torsional spring.
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CN113440378B (en) * | 2021-07-19 | 2022-07-01 | 广西科技大学 | Leg adjusting device of self-locking exoskeleton robot and using method |
GB2614076A (en) * | 2021-12-21 | 2023-06-28 | Prec Robotics Limited | An articulated member |
CN115127002B (en) * | 2022-07-07 | 2023-07-21 | 哈尔滨工业大学(深圳) | Rope-driven parallel robot for indoor oversized space operation |
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