CN107253182B - Rope-driven multi-degree-of-freedom serial mechanical arm and driving method thereof - Google Patents
Rope-driven multi-degree-of-freedom serial mechanical arm and driving method thereof Download PDFInfo
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- CN107253182B CN107253182B CN201710494707.6A CN201710494707A CN107253182B CN 107253182 B CN107253182 B CN 107253182B CN 201710494707 A CN201710494707 A CN 201710494707A CN 107253182 B CN107253182 B CN 107253182B
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
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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
- B25J9/10—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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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Abstract
The invention discloses a rope-driven multi-degree-of-freedom serial mechanical arm and a driving method thereof, and belongs to the field of mechanical arms. The rope driving mechanical arm comprises a base, a waist joint unit, a waist platform, a big arm unit, a small arm unit, a tail end platform unit and the like. One end of the steel wire rope is fixed on the driven wheel at the joint, and the other end of the steel wire rope is fixed on the winch of the driving unit at the waist platform, so that the driving force is transmitted to the driven wheel at the rear end of the steel wire rope from the winch of the waist platform by means of the rope, and the joint units are driven to rotate around respective joint shafts. The joint driving ropes are guided by the guide pulleys and sequentially bypass the joint shafts at the front end, a driving method is established through the setting of the diameters of the guide wheels of the specified shafts, the front end of the mechanical arm rotates at random, and the posture of the tail end relative to a world coordinate system is kept unchanged. The rope flexibility increases the buffer effect of the mechanical arm in contact with the environment, and is particularly suitable for occasions with high requirements on the interaction safety of the mechanical arm with people and the environment.
Description
Technical Field
The invention relates to the technical field of multi-joint mechanical arms, in particular to a rope-driven and joint-coupled rope-driven multi-degree-of-freedom serial mechanical arm and a driving method thereof.
Background
At present, the traditional multi-freedom-degree serial mechanical arm is driven by hydraulic and motor, a driving system is arranged at the joint of the mechanical arm, and a driving unit of each joint becomes the load of the next joint, so that the defects of complex structure, large volume and weight, large moment of inertia, poor system flexibility, low load self-weight ratio and the like exist, and the bearing capacity, high-speed movement and quick response capacity of the mechanical arm are limited. The high rigidity, high inertia of conventional robotic arms has to take into account the safety of human-machine, environmental-machine interactions. In addition, in order to overcome the defects of the traditional mechanical arm, improve the load self-weight ratio of the system and the safety performance of the system, the rope-driven multi-degree-of-freedom serial mechanical arm is provided. The rope can easily realize the transmission of the pulling force in any path, so that the driving motor on the joint of the traditional mechanical arm can be arranged at the position of the base after being installed, and the driving force is transmitted to the joint by utilizing the free wiring configuration of the rope, so that the movement of the joint of the mechanical arm is realized. The rear-mounted driving mechanism can greatly reduce the weight of the mechanical arm, reduce the joint inertia, has a simple structure, is easy to realize, and simultaneously improves the load-to-weight ratio of the system. However, the coupling phenomenon between joint ropes is unavoidable, which is a problem primarily solved by the movement of the mechanical arm.
According to the technical literature search, the patent of Tao Jun et al (publication No. CN1995777A, name: a wire rope transmission mechanism for a mechanical arm) of Shanghai university and related papers, such as "mechanism design of a wire rope transmission four-degree-of-freedom mechanical arm" and "mechanism design of a wire rope transmission 5-degree-of-freedom robot", are found to be beneficial to search for the wire rope transmission mechanism, but the designed multi-degree-of-freedom mechanical arm also only realizes rope driving of a single joint, the other joints still depend on a motor direct driving mode, the advantages of the rope driving mode cannot be better exerted, and the popularization of the multi-joint rope driving mechanical arm has defects. Zhang Qin et al (patent publication No. CN102672715A, name: a rope driving mechanical arm for helping disabled/aged), discloses a rope driving mechanical arm for helping disabled/aged, wherein driving motors of all rotary joints are arranged in a base driving box, a sleeve-rope transmission mode is adopted, the rear-mounted of each joint driving unit is realized, the coupling phenomenon of each rotary joint driving rope is avoided, but friction between the rope and the sleeve brings a plurality of nonlinear characteristics such as dead zone, clearance, hysteresis, and the like, and the control precision, dynamic characteristics and driving efficiency of the mechanical arm are difficult to guarantee.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the rope-driven multi-degree-of-freedom serial mechanical arm and the driving method thereof, solves the problems of rope transmission, arrangement, tensioning and the like in the multi-joint mechanical arm, and provides a simple and beneficial solution to the problem of coupling of the joint driving ropes.
The technical scheme adopted by the invention is as follows:
a rope-driven multi-degree-of-freedom serial mechanical arm is characterized in that:
comprises a base bottom plate, a waist platform, a big arm unit, a small arm unit and a tail end platform unit;
the waist platform is also provided with a waist driving unit, a big arm driving unit, a small arm driving unit and a tail end driving unit; the waist driving unit, the big arm driving unit, the small arm driving unit and the tail end driving unit are all composed of a motor, a coupler, a rope winch and a rope wound on the rope winch;
the waist platform is arranged on the base bottom plate through a waist unit; the waist unit comprises a waist rotating shaft and a waist support, wherein the rotating shaft of the waist rotating shaft is fixedly connected with the base bottom plate along the vertical direction, the waist rotating shaft is fixedly connected with the waist platform, the waist rotating shaft is sleeved on the waist support, and the waist rotating shaft and the waist support are connected through a bearing; the two ends of the waist rope of the waist driving unit are respectively wound on the waist rotating shaft and fixed with the waist rotating shaft;
A pair of waist left side plates and a pair of waist right side plates are fixed on the waist platform, and a horizontally arranged big arm joint rotating shaft is arranged between the waist left side plates and the waist right side plates; the large arm joint rotating shaft is also provided with a large arm joint driven wheel, a small arm joint pulley and a first tail end joint pulley; the lower end of the big arm unit and the big arm joint driven wheel are fixedly connected with a big arm joint rotating shaft; two ends of a big arm rope of the big arm driving unit are respectively wound on and fixed with a big arm joint driven wheel; the big arm unit is also provided with a small arm rope tensioning device;
the lower end of the small arm unit is connected with the upper end of the large arm unit through a small arm joint rotating shaft which is horizontally arranged; the forearm joint rotating shaft is also provided with a forearm joint driven wheel and a second end joint pulley; the lower end of the forearm unit and the forearm joint driven wheel are fixedly connected with the forearm joint rotating shaft; the two ends of the small arm rope sequentially pass through the small arm joint pulley and the small arm rope tensioning device and then are respectively wound on and fixed with the small arm joint driven wheel; the forearm unit is also provided with a tail end rope tensioning device;
the lower end of the tail end platform unit is connected with the upper end of the forearm unit through a tail end joint rotating shaft which is horizontally arranged; the end joint driven wheel is also arranged on the end joint rotating shaft; the lower end of the tail end platform unit and the tail end joint driven wheel are fixedly connected with a tail end joint shaft; the two ends of the tail end rope of the tail end driving unit pass through the first tail end joint pulley, the second tail end joint pulley and the tail end rope tensioning device in sequence and then are respectively wound on and fixed with the tail end joint driven wheel.
The driving unit of the rope driving mechanical arm is arranged on the waist platform far away from each joint, and is connected with each joint and the driving unit through the rope to transfer motion and force, so that the defects of large overall mass and large inertia of the mechanical arm caused by the fact that a speed reducing device and a driving device are arranged at each joint of the traditional mechanical arm are overcome, the mass and the volume of an extending part of the mechanical arm are reduced, the load of a driving motor is reduced, and the system is beneficial to the improvement of the motion performance and dynamic response.
The rope-driven multi-degree-of-freedom serial mechanical arm is characterized in that:
the diameter of the forearm joint pulley wound by the forearm rope is equal to that of the forearm joint driven wheel;
the diameters of the first end joint pulley, the second end joint pulley and the end joint driven wheel, which are wound by the end rope, are the same;
the arm rope and the end rope do not intersect with each other in a winding loop formed by the arm rope winch and the end rope winch.
The rope-driven multi-degree-of-freedom serial mechanical arm is characterized in that: the small arm rope tensioning device and the tail end rope tensioning device are structured as follows,
comprises a base plate, a left tensioning arm and a right tensioning arm; an upper bolt hole and a lower bolt hole are formed in the base plate, the right end of the left tensioning arm is mounted at one bolt hole through a bolt, and the left end of the right tensioning arm is mounted at the other bolt hole through a bolt; the left end of the left tensioning arm and the right end of the right tensioning arm are respectively provided with a left arm belt groove pulley and a right arm belt groove pulley;
The tensioning arm is also provided with torsion spring hole sleeves at the corresponding bolt holes, left and right arm torsion springs and fixing nuts; the left and right arm torsion springs and the torsion spring holes are sleeved between the base plate and the left and right tensioning arms, the left and right arm torsion springs are sleeved on the torsion spring holes, the torsion spring holes are sleeved on the bolt shaft, and the tail ends of the bolt shaft are fixed through the bolt shaft nuts; one end of the torsion spring is fixed through a flange of the base plate, and the other end of the torsion spring is fixed through a flange of the tensioning arm;
when no external force acts, the two tensioning arms are perpendicular to the base plate.
Because the rope can only bear the factors such as the pulling force, the existence of elastic deformation and the like, the phenomena such as loosening and the like of the rope in the driving process can be caused, the transmission performance of motion and force is influenced, and the performance of the mechanical arm is influenced. Through installing rope overspeed device tensioner for the arm is in the drive in-process, and the rope remains in tensioning state throughout, makes the transmission process reliable, high-efficient, is favorable to improving control performance, improves the driving effect.
The rope-driven multi-degree-of-freedom serial mechanical arm is characterized in that: the rope tensioning device is designed as an independent module, and the corresponding tensioning device is installed according to the number of ropes which are tensioned in actual need.
The multiple degrees of freedom of the mechanical arm require multiple rope transmissions, and there are cases where some joints are far from the driving motor and the path of travel is long, the tensioning effect of a single tensioning device is not ideal, so with the modularized rope tensioning device, one or more tensioning devices can be installed according to practical factors.
The rope-driven multi-degree-of-freedom serial mechanical arm is characterized in that: the large arm rope winch, the large arm joint driven wheel and the central symmetry line of the large arm rope are positioned on the same plane; the center symmetry line of the forearm rope winch, the forearm joint pulley, the forearm joint driven wheel and the forearm rope is positioned on the same plane; the terminal rope winch, the first terminal joint pulley, the second terminal joint pulley, the terminal joint driven wheel and the central symmetry line of the terminal rope are positioned on the same plane;
the relationship is ensured, so that unexpected situations such as transverse sliding and the like can not occur in the driving process of the rope, the driving rope length change of the rope can be simply and accurately measured, and the mechanical arm is the basis for carrying out accurate kinematic modeling.
The rope-driven multi-degree-of-freedom serial mechanical arm is characterized in that: the reduction ratios between the waist rope winch and the waist rotating shaft, between the large arm rope winch and the large arm joint driven wheel, between the small arm rope winch and the small arm joint driven wheel and between the tail end rope winch and the tail end joint driven wheel are respectively recorded as n0, n1, n2 and n3, so that the number of thread groove coils on the rope winch is respectively not smaller than n0, n1, n2 and n3, and the thread pitch is not smaller than the diameter of the rope.
Each joint needs to be capable of rotating within a preset angle range, a reduction ratio exists between the joint and the driving motor, the winding number of the rope on the winch is more than that on the driven wheel of the joint, and therefore the number of the thread groove line must be larger than the reduction ratio. By processing the thread groove line on the winch, the rope can be wound on the winch according to the thread path, the condition that the length change of the calculated rope is influenced due to overlapping, crossing and the like of the rope in the winding process is avoided, and the calculation accuracy and the reliable driving are ensured.
The driving method for the rope-driven multi-degree-of-freedom serial mechanical arm is characterized by comprising the following steps of:
the waist platform rotates around the waist support, has vertical rotation freedom degrees, and the big arm unit, the small arm unit and the tail end platform unit have three parallel rotation freedom degrees perpendicular to the axis of the waist unit;
the rope winches on the waist driving unit, the big arm driving unit, the small arm driving unit and the tail end driving unit can wind and release corresponding ropes to transfer motion and force, so that each joint shaft is driven to rotate, and the rope drives the multi-degree-of-freedom serial mechanical arm to move;
the small arm rope tensioning device and the tail end rope tensioning device keep the rope passing through the small arm rope tensioning device in a tensioning state all the time;
The waist rope, the big arm rope, the small arm rope and the tail end rope are always attached to the guide pulley in the transmission process.
The four rope-driven joints are adopted to set, so that the requirements of most of operation tasks in reality are met; the whole inertia and the mass of the mechanical arm are reduced by the rope drive, and the complexity of the mechanism is reduced by the simple structure; the rope tensioning device further ensures the reliability and stability of the rope driving process; the flexibility of the rope has the effect of buffering and absorbing vibration, and overcomes the defects of the traditional rigid mechanical arm, such as flexible crossing and insufficient safety.
The driving method for the rope-driven multi-degree-of-freedom serial mechanical arm is characterized by comprising the following steps of:
the diameter of the forearm joint pulley wound by the forearm rope is equal to that of the forearm joint driven wheel; the diameters of the first end joint pulley, the second end joint pulley and the end joint driven wheel, which are wound by the end rope, are the same; the small arm rope and the tail end rope are not crossed in a winding loop formed by the small arm rope winch and the tail end rope winch;
the big arm unit and the small arm unit rotate at any angle, so that the gesture of the tail end platform unit cannot be changed, and the specific reasons are as follows:
wherein the symbols are expressed as: θ 1 、θ 2 、θ 3 The coating angles of the tail end ropes on the big arm unit, the small arm unit and the tail end platform unit are respectively shown; Δθ 1 、Δθ 2 、Δθ 3 Respectively representing the joint rotation angles of the big arm unit, the small arm unit and the tail end platform unit; r is R 31 、R 32 、R 33 Respectively representing the radius of a first end joint pulley, a second end joint pulley and an end joint driven wheel; l (L) 3 、L 3 ' respectively represents the terminal endsTotal coating length before and after rope movement.
Before movement, when the end rope is at the initial position, the wrapping length of the end rope on the first end joint pulley on the big arm unit is theta 1 R 31 The wrapping length of the second end joint pulley on the forearm unit is theta 2 R 32 The wrapping length on the fixed end joint driven wheel is theta 3 R 33 Thus, the total coating length of the pre-exercise tip rope 3 is L 3 ＝θ 1 R 31 +θ 2 R 32 +θ 3 R 33 。
When the driven wheel of the large arm joint drives the large arm unit to rotate by an angle delta theta 1 The driven wheel of the forearm joint drives the forearm unit to rotate by an angle delta theta 2 In the process, if the attitude of the terminal platform unit is ensured not to change relative to the geodetic coordinate system, the conditions are required to be satisfied: Δθ 3 ＝Δθ 2 -Δθ 1 。
After movement, the end rope has a coating length (θ 1 -Δθ 1 )R 31 The coating length of the pulley at the second end joint was (θ 2 +Δθ 2 )R 32 The length of the coating on the driven wheel of the end joint was (θ 3 -Δθ 3 )R 33 The total coating length of the end rope 3 at this time is L 3 ′＝(θ 1 -Δθ 1 )R 31 +(θ 2 +Δθ 2 )R 32 +θ 3 ′R 33 . Since the rotation of the joints does not affect the total coating length of the end rope when the end rope winch is not driving the end rope, i.e. L 3 ′＝L 3 . Then, after each joint rotates, the wrapping angle of the tail end rope on the tail end joint driven wheel
Where the first end joint pulley, the second end joint pulley, and the end joint driven pulley, which ensure that the end rope is wound around, are the same diameter, i.e. R 31 ＝R 32 ＝R 33 . Thus, the end rope is articulated at the end of the driven wheelThe coating angle is theta 3 ′＝θ 3 -(Δθ 2 -Δθ 1 ) The angle change of the end stage unit is Δθ 3 ＝Δθ 2 -Δθ 1 The condition is satisfied. It was demonstrated that the end platform pose was unchanged.
The characteristics are that under the condition of ensuring that the pose of the tail end is unchanged, only the driving motor of the tail end joint is required to be controlled not to rotate. And when the pose of the tail end of the traditional mechanical arm is kept unchanged, the rotation angle of the joint of the tail end needs to be controlled at the same time, and the motion coupling is strong. The design of the characteristics of the mechanical arm greatly optimizes the control method for keeping the pose of the tail end unchanged, and is simple and feasible. Meanwhile, the method has the advantage of reducing energy consumption.
The driving method for the rope-driven multi-degree-of-freedom serial mechanical arm is characterized by comprising the following steps of:
The small arm rope tensioning device and the tail end rope tensioning device are structurally characterized by comprising a base plate, a left tensioning arm and a right tensioning arm; an upper bolt hole and a lower bolt hole are formed in the base plate, the right end of the left tensioning arm is mounted at one bolt hole through a bolt, and the left end of the right tensioning arm is mounted at the other bolt hole through a bolt; the left end of the left tensioning arm and the right end of the right tensioning arm are respectively provided with a left arm belt groove pulley and a right arm belt groove pulley; the tensioning arm is also provided with a torsion spring hole sleeve, left and right torsion springs and a fixing nut at the corresponding bolt hole; the left and right arm torsion springs and the torsion spring hole sleeves are positioned between the base plate and the left and right tensioning arms, the left and right arm torsion springs are sleeved on the torsion spring hole sleeves, the torsion spring hole sleeves are sleeved on the bolt shaft, and the tail end of the bolt shaft is fixed through the bolt shaft nut; one end of the torsion spring is fixed through a flange of the base plate, and the other end of the torsion spring is fixed through a flange of the tensioning arm; when no external force acts, the two tensioning arms are perpendicular to the base plate;
the right rope section and the left rope section are contacted with the left arm grooved pulley and the right arm grooved pulley and are pressed inwards from outside to inside with a certain pretension to generate inward pressure, so that the left tensioning arm and the right tensioning arm rotate around the near-end bolt shaft, and the left tensioning arm and the right tensioning arm are compressed to deform; the torsion spring generates torsion after deformation, the torsion force is generated outwards, the torsion force direction is opposite to the pretension force direction, the forces in the two directions are balanced with each other, the ropes at two sides are tensioned, and the two ends of the ropes are fixed. At this time, the rope is fixedly connected under a certain pretension.
When the rope is loosened, the left tensioning arm and the right tensioning arm continuously twist outwards under the action of the torsion spring and push the rope outwards until the rope is balanced with the initial pre-tightening force, so that the rope is changed into a tensioning state.
In the operation process of the mechanical arm, if rope slackening and other phenomena occur, the rope tensioning device can dynamically tension and adapt to the tightness state of the rope, so that the rope driving performance is stable and reliable, and the motion and force transmission performance is ensured.
Compared with the prior art, the invention has the beneficial effects that:
the rope-driven multi-degree-of-freedom mechanical arm system provided by the invention is characterized in that the joint driving motor is arranged at the base position, and the free wiring configuration of the rope is utilized to transmit the driving force to the joint so as to realize the movement of the joint of the mechanical arm. The driving mechanism is arranged at the rear, so that the weight of the mechanical arm can be greatly reduced, the inertia of joints is reduced, and the load-to-weight ratio of the system is improved. The rope tensioning module realizes tensioning of the driving rope through simple torsion springs and other devices, and has simple and reliable structure. The modularized design concept is adopted, the number of joints and arms of the mechanical arm can be increased according to actual needs, and the application range and functions of the mechanical arm are enlarged. Through the size constraint of each guide component, the length of the rope when driving each joint unit can be accurately measured, and the method for keeping the pose of the tail end of the mechanical arm unchanged is simple and effective. The invention has simple and feasible structure and low cost, can replace and make up the defects of the existing industrial robot, and can be popularized and applied in a large area.
Drawings
FIG. 1 is an isometric view of a rope-driven multiple degree of freedom mechanical arm;
FIG. 2 is a front view of a rope-driven multiple degree of freedom robotic arm;
FIG. 3 is a three-dimensional exploded view of the lumbar platform;
FIG. 4 is a front view of the lumbar joint unit;
FIG. 5 is a cross-sectional view of a lumbar joint unit;
FIG. 6 is an isometric view of a boom unit;
FIG. 7 is a front view of the boom unit;
FIG. 8 is an end unit axial view;
FIG. 9 is a front view of the end unit;
FIG. 10 is an axial view of the rope tensioner;
FIG. 11 is an exploded view of the rope tensioner;
fig. 12 is a schematic view of the rope tensioner operating state 1;
fig. 13 is a schematic view of the rope tensioner operating condition 2;
FIG. 14 is a schematic view of a robotic arm motion profile 1;
FIG. 15 is a schematic view of a robotic arm motion profile 2;
reference numerals in the figures: a base bottom plate, a 2 waist unit, a 3 waist platform, a 4 waist driving unit, a 5 forearm driving unit, a 6 forearm driving unit, a 7 tail end driving unit, an 8 forearm joint driven wheel, a 9 forearm unit, a 10 forearm joint driven wheel, a 11 forearm unit, a 12 tail end joint driven wheel, a 13 tail end platform unit, a 14-1 forearm rope tensioning device, a 14-2 tail end rope tensioning device, a 15-1 forearm guide pulley, a 15-2 forearm guide pulley, a 15-3 tail end guide pulley, a 16 forearm joint pulley, a 17-1 first tail end joint pulley, a 17-2 second tail end joint pulley, a 20 waist rope, a 21 forearm rope, a 22 forearm rope and a 23 tail end rope;
A 301 waist platform bottom plate, a 302-1 waist left side plate, a 302-2 waist right side plate, a 303-1 waist right reinforcing rib, a 303-2 waist left reinforcing rib, a 304-1 left guide pulley seat, a 304-2 right guide pulley seat, a 305 waist side plate supporting rod, a 401 waist servo motor, a 501 big arm servo motor, a 601 small arm servo motor, a 701 tail end servo motor, a 402 waist rope winch, a 403 coupling, a 502 big arm rope winch, a 602 small arm rope winch and a 702 tail end rope winch;
201-1 lower tapered roller bearing, 201-2 upper tapered roller bearing, 202 lumbar support, 203 lumbar shaft sleeve, 204 lumbar rotating shaft, 205 lumbar bearing retainer ring, 206 rope sheeting and 207 screw;
the large arm joint comprises a 901 large arm joint rotating shaft, a 902-1 large arm left collar, a 902-2 large arm right collar, a 903-1 large arm left flange bearing, a 903-2 large arm right flange bearing, a 904 driven wheel hole seat, a 905-1 large arm left side plate, a 905-2 large arm right side plate and a 906 large arm supporting rod;
1301 end joint rotation shaft, 1302-1 end left side flange bearing, 1302-2 end right side flange bearing, 1303-1 end left side plate, 1303-2 end right side plate, 1304-1 end left side collar, 1304-2 end right side collar, 1305 end mounting seat, 1306 side plate screw, 1307 driven wheel screw;
A circlip 1401, a left arm grooved pulley 1402-1, a right arm grooved pulley 1402-2, a 1403 washer, a left tensioning arm 1404-1, a right tensioning arm 1404-2, a 1405 pin, a 1406 bolt shaft, a 1407 washer, a 1408-1 left arm torsion spring, a 1408-2 right arm torsion spring, a 1409 torsion spring hole cover, a 1410 base plate, a 1411 bolt shaft nut, a 1412 fixing bolt, a 1413 adjustment washer, a 1414 fixing nut;
14 rope tensioning device, 30 mounting side plate, 24-1 rope left section, 24-2 rope right section, 15-11 left side guide pulley, 15-12 right side guide pulley;
43 end rope securing anchor points.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 and 2, the invention discloses a rope-driven multi-degree-of-freedom serial mechanical arm, which comprises: a base floor 1, a lumbar unit 2, a lumbar platform 3, a lumbar driving unit 4, a forearm driving unit 5, a forearm driving unit 6, a distal driving unit 7, a forearm driven wheel 8, a forearm unit 9, a forearm driven wheel 10, a forearm unit 11, a distal driven wheel 12, a distal platform unit 13, a forearm rope tensioner 14-1, a distal rope tensioner 14-2, a forearm guide pulley 15-1, a forearm guide pulley 15-2, a distal guide pulley 15-3, a forearm joint pulley 16, a first distal joint pulley 17-1, a second distal joint pulley 17-2, a lumbar rope 20, a forearm rope 21, a forearm rope 22, a distal rope 23, and the like. The waist unit 2 has a vertical rotational degree of freedom, and the large arm unit 9, the small arm unit 11, and the end platform unit 13 have three parallel rotational degrees of freedom perpendicular to the waist unit 2. The waist driving unit 4, the forearm driving unit 5 and the tail end driving unit 7 are all arranged on the waist platform 3. The waist rope 20 connects the waist driving unit 4 and the waist unit 2; the big arm rope 21 is connected with the big arm driving unit 6 and the big arm joint driven wheel 8; the forearm rope 22 connects the forearm drive unit 6 and the forearm joint driven wheel 10; the end rope 23 connects the end drive unit 7 and the end joint driven wheel 12. The large arm rope 22 and the small arm rope 23 are respectively tensioned and preloaded by the small arm rope tensioning device 14-1 and the tail end rope tensioning device 14-2. The ropes of all joints transmit driving force to drive all joint shafts to rotate, so that the rope-driven multi-degree-of-freedom serial mechanical arm is formed.
Referring to fig. 1 and 2, the center symmetry lines of the grooves of the waist rope winch 402 and the waist rotating shaft 204 remain on the same plane; the center symmetry line of the large arm rope winch 502, the large arm guide pulley 15-1 and the large arm joint driven wheel 8 is kept on the same plane; the center symmetry line of the forearm rope winch 602, the forearm guide pulley 15-2, the forearm joint pulley 16 and the forearm joint driven wheel 10 is kept on the same plane; the center symmetry line of the end rope reel 702, the end guide pulley 15-3, the first end joint pulley 17-1, the second end joint pulley 17-2, and the end joint driven pulley 12 is maintained on the same plane.
Referring to fig. 3, the lumbar platform 3 includes: a waist platform bottom plate 301, a waist left side plate 302-1, a waist right side plate 302-2, a waist right reinforcing rib 303-1, a waist left reinforcing rib 303-2, a left guide pulley seat 304-1, a right guide pulley seat 304-2, a large arm guide pulley 15-1, a waist side plate supporting rod 305, a waist driving unit 4, a small arm driving unit 5, a large arm driving unit 6 and a tail end driving unit 7. The left waist side plate 302-1 is connected with the upper side surface of the waist platform bottom plate 301 through a right waist reinforcing rib 303-1 and is fastened through bolts, and the right waist side plate 302-2 is connected with the waist platform bottom plate 301 through a left waist reinforcing rib 303-2 and is fastened through bolts. The lumbar driving unit 4, the forearm driving unit 5, the forearm driving unit 6, and the distal driving unit 7 are mounted on the upper side of the lumbar platform floor 301 by screws. The left guide pulley seat 304-1 and the right guide pulley seat 304-2 are respectively provided with a forearm guide pulley 15-2 and a tail end guide pulley 15-3, and then are respectively fixed on the inner side surfaces of the left waist side plate 302-1 and the right waist side plate 302-2 through screws. The large arm guide pulley 15-1 is directly mounted on the outer side surface of the waist left side plate 302-1. Bearing holes are formed in the left lumbar side plate 302-1 and the right lumbar side plate 302-2 for mounting the knuckle bearing of the large arm unit 9. Threaded holes are machined at two ends of the waist side plate supporting rod 305 and are connected and fastened with the waist left side plate 302-1 and the waist right side plate 302-2, and stability of the structure of the two waist side plates is improved. The lower side of the waist platform bottom plate 301 is connected with the waist unit 2 through bolts, and when the waist unit 2 rotates, the waist platform 3 is driven to rotate.
Referring to fig. 1, 2 and 3, the rope-driven multi-degree-of-freedom serial mechanical arm is driven by each joint in such a way that a waist unit 2 is connected with a waist driving unit 4 through a waist rope 20, and a waist rope winch 402 on the waist driving unit 4 winds the rope to drive the waist unit 2 to rotate around an axis, so as to form waist joint movement; after being guided by a big arm guide pulley 15-1, a big arm rope 21 is connected with a big arm driving unit 6 and a big arm joint driven wheel 8, a big arm rope winch 502 on the big arm driving unit 6 winds the rope to drive the big arm joint driven wheel 8 to rotate, and the big arm joint driven wheel 8 is connected with a big arm unit 9 through a joint shaft to drive the big arm unit 9 to rotate around the shaft so as to form big arm joint motion; the forearm rope 22 is guided and tensioned by the forearm guide pulley 15-2, the forearm joint pulley 16 and the forearm rope tensioning device 14-1, then is connected with the forearm driving unit 5 and the forearm joint driven wheel 10, the forearm rope winch 602 on the forearm driving unit 5 winds the rope to drive the forearm joint driven wheel 10 to rotate, the forearm joint driven wheel 10 is connected with a joint shaft of the forearm unit 11, and the forearm unit 11 is driven to rotate around the shaft to form forearm joint movement; after being guided and tensioned by the end guide pulley 15-3, the first end joint pulley 17-1, the second end joint pulley 17-2 and the end rope tensioning device 14-2, the end rope 23 is connected with the end driving unit 7 and the end joint driven wheel 12, the end driven wheel 12 is driven to rotate by winding the rope by the end rope winch 702 on the end driving unit 7, the end joint driven wheel 12 is connected with the joint shaft of the end platform unit 13, and the end joint driven wheel 12 is driven to rotate around the shaft, so that end joint motion is formed.
Referring to fig. 4 and 5, the lumbar unit 2 includes a lower tapered roller bearing 201-1, an upper tapered roller bearing 201-2, a lumbar support 202, a lumbar bushing 203, a lumbar shaft 204, a lumbar bearing retainer 205, a rope sheeting 206, and a screw 207. The lumbar support 202 and the lumbar rotating shaft 204 are hollow cylinders with flanges, and threaded through holes are machined at the flanges. The lumbar support 202 is fixedly connected with the base bottom plate 1 through bolts, and the lumbar rotating shaft 204 is fixedly connected with the lumbar platform bottom plate 301 of the lumbar platform 3 through bolts and nuts. The inner ring and the outer ring of the lower tapered roller bearing 201-1 and the upper tapered roller bearing 201-2 are respectively and tightly matched with the outer surface of the lumbar support 202 and the inner surface of the lumbar rotating shaft 204, the inner ring is positioned through the lumbar shaft sleeve 203, and the outer ring is positioned through the shoulder of the inner ring of the lumbar rotating shaft 204, so that the lumbar rotating shaft 204 can rotate relatively freely around the lumbar rope 20. The outer surface of the waist rotating shaft 204 is provided with an annular groove, the waist rope 20 is wound, the middle part of the waist rope 20 is pressed in the annular groove of the waist rotating shaft 204 by a rope pressing piece 206 and is screwed by a screw 207, the waist rope 20 is reliably fastened in the annular groove of the waist rotating shaft 204, the waist rope 20 is used as a node, the left section and the right section of the waist rope 20 are respectively wound around the annular groove of the waist rotating shaft 204 in opposite directions, and are wound to a waist rope winch 402 and are fixed at two ends of the rope. The waist rope winch 402 is surface-machined with a threaded groove line along which the rope can be reliably wound. The waist servo motor 401 is mounted on the waist platform base plate 301, and drives the waist rope winch 402 to rotate through the coupling 403. Since both ends of the waist rope 20 are reversely wound on the thread groove line of the waist rope winch 402, when the waist rope winch 402 rotates, one end of the waist rope 20 is continuously wound on the waist rope winch 402, and the other end is synchronously released from the waist rope winch 402, so that the waist rope 20 is stretched, the waist rotating shaft 204 rotates around the waist support 202, and the waist platform bottom plate 301 fixedly connected with the waist rotating shaft 204 is driven to rotate, and the process of rotating the waist unit 2 and the waist platform 3 around the shaft is realized.
Referring to fig. 6 and 7, the large arm unit 9 includes: the large arm joint driven wheel 8, a large arm joint rotating shaft 901, a large arm left collar 902-1, a large arm right collar 902-2, a large arm left flange bearing 903-1, a large arm right flange bearing 903-2, a driven wheel hole seat 904, a large arm left side plate 905-1, a large arm right side plate 905-2 and a large arm supporting rod 906. The big arm joint driven wheel 8 is fixedly connected with a driven wheel hole seat 904 through a screw, and the driven wheel hole seat 904 is matched with a shaft hole of a big arm joint rotating shaft 901 and connected by a key. The lower end holes of the left side plate 905-1 and the right side plate 905-2 of the big arm are respectively provided with a key slot and a pin hole, and the key slots and the pin holes are matched with the shaft holes of the joint rotating shaft 901 of the big arm, and then are connected through keys and pins, so that the driving performance is improved. The inner ring of the left flange bearing 903-1 and the right flange bearing 903-2 of the big arm are matched with the rotating shaft 901 of the big arm joint, and the outer ring is matched with the left side plate and the right side plate of the waist platform 3 to form a rotating joint between the big arm unit 9 and the waist platform 3. After each part is installed and pressed, the two ends of the large arm joint rotating shaft 901 are pressed by a large arm left collar 902-1 and a large arm right collar 902-2 for axial fixation. The forearm joint pulley 16 and the first end joint pulley 17-1 are mounted on the forearm joint shaft 901, and serve as a guide for the driving rope on the joint shaft. The forearm line tensioner 14-1 is mounted on the left boom panel 905-1 for driving the tensioning of the line. The forearm guide pulley 15-2 and the distal guide pulley 15-3 are mounted on the left boom side plate 905-1 and the right boom side plate 905-2, respectively, for guiding the driving rope. Screw holes are processed at two ends of the big arm supporting rod 906, the big arm left side plate 905-1 and the big arm right side plate 905-2 are connected, and the two side plates are fastened by screws, so that the support of the two side plates is stable.
The forearm unit 11 comprises a forearm joint driven wheel 10, a forearm joint rotating shaft, a forearm left flange bearing, a forearm right flange bearing, a forearm left collar, a forearm right collar, a side plate supporting column sleeve, a forearm left side plate and a forearm right side plate, and a side plate supporting column sleeve. The middle of the side plate support column sleeve is provided with a shaft hole which is fixedly connected with the forearm joint rotating shaft through key fit; threaded holes are machined in the left side surface and the right side surface, and the threaded holes are fixedly connected with the forearm side plate and the forearm side plate through bolts respectively. The forearm joint driven wheel 10 is arranged on the outer side surface of the forearm side plate, and is fixed with a driving rope to drive the forearm unit 11. The inner ring of the left flange bearing and the inner ring of the right flange bearing of the forearm are matched with the rotating shaft of the forearm joint, and the outer ring is matched with the left side plate and the right side plate of the big arm unit 9 to form a rotating joint between the forearm unit 11 and the big arm unit 9. After each part is installed and pressed, the two ends of the small arm joint rotating shaft are pressed by the small arm left flange bearing and the small arm right flange bearing to be axially fixed. The outer side surface of the right side plate of the forearm is provided with a tail end rope tensioning device 14-2 for tensioning a rear end joint rope and guiding the rope by using a tail end guiding pulley 15-3. The upper ends of the left side plate and the right side plate of the forearm are fixedly connected with threaded holes on two side surfaces of the support column sleeve of the side plate, and are used for supporting the side plate, so that the stability is improved.
Referring to fig. 8 and 9, the end platform unit 13 includes: the arm joint driven wheel 10, the end joint rotating shaft 1301, the end left flange bearing 1302-1, the end right flange bearing 1302-2, the end left plate 1303-1, the end right plate 1303-2, the end left collar 1304-1, the end right collar 1304-2, the end mounting seat 1305, the side plate screw 1306, and the driven wheel screw 1307. The lower ends of the left end side plate 1303-1 and the right end side plate 1303-2 are provided with shoulder holes and key grooves, and the shoulder holes and the key grooves are fixedly connected with the shaft holes of the joint rotating shaft 1301 through keys after being matched with the shaft holes of the joint rotating shaft 1301; the upper end is provided with a threaded through hole, and is fixedly connected with the two side surfaces of the terminal mounting seat 1305 through a side plate screw 1306 after being matched with the two side surfaces. An installation boss is machined on the upper side of the end installation seat 1305 as an installation of other actuating mechanisms. The end joint driven wheel 12 is matched with the outer side face of the end right side plate 1303-2, and is fixedly connected with the end joint driven wheel 12 and the outer side face of the end right side plate 1303-2 through driven wheel screws 1307, and a driving rope is fixed to drive the end platform unit 13. The inner ring of the end left flange bearing 1302-1 and the end right flange bearing 1302-2 are matched with the end joint rotating shaft 1301, and the outer ring is matched with the left side plate and the right side plate of the forearm unit 11 to form a rotating joint between the end platform unit 13 and the forearm unit 11. After each component is installed and pressed, the two ends of the terminal joint rotating shaft 1301 are pressed and fastened by the terminal left side shaft ring 1304-1 and the terminal right side shaft ring 1304-2, and are axially fixed.
Referring to fig. 10 and 11, the arm rope tensioner 14-1 or the end rope tensioner 14-2 includes: circlip 1401, left arm grooved pulley 1402-1, right arm grooved pulley 1402-2, washer 1403, left tensioning arm 1404-1, right tensioning arm 1404-2, pin 1405, bolt shaft 1406, washer 1407, left arm torsion spring 1408-2, right arm torsion spring 1408-2, torsion spring hole 1409, base plate 1410, bolt shaft nut 1411, fixing bolt 1412, adjustment washer 1413, fixing nut 1414.
The base plate 1410 is provided with an upper bolt hole and a lower bolt hole, the right end of the left tensioning arm is arranged at one bolt hole through a bolt shaft, and the left end of the right tensioning arm is arranged at the other bolt hole through a bolt shaft; the left end of the left tensioning arm and the right end of the right tensioning arm are respectively provided with a left arm grooved pulley 1402-1 and a right arm grooved pulley 1402-2;
the tensioning arm is also provided with a torsion spring hole sleeve 1409 at the corresponding bolt hole, a left arm torsion spring 1408-1, a right arm torsion spring 1408-2, and a fixed nut 1414; the left arm torsion spring 1408-1, the right arm torsion spring 1408-2 and the torsion spring hole cover 1409 are positioned between the base plate 1410 and the left tensioning arm 1404-1, the right tensioning arm 1404-2, the left arm torsion spring 1408-1, the right arm torsion spring 1408-2 are sleeved on the torsion spring hole cover 1409, the torsion spring hole cover 1409 is sleeved on the bolt shaft 1406, and the tail end of the bolt shaft 1406 is fixed through a bolt shaft nut 1411; one end of the torsion spring is fixed through the flange of the base plate, and the other end of the torsion spring is fixed through the flange of the tensioning arm. The left tensioning arm 1404-1 and the right tensioning arm 1404-2 end holes are free to rotate about the bolt shaft 1406. The base plate 1410 is mounted on a target object and secured by a retaining nut 1414, wherein an adjustment washer 1413 may be used to adjust the spacing. When no external force acts, the two tensioning arms are perpendicular to the base plate.
Referring to fig. 12 and 13, the principle of the rope tensioning process includes: rope tensioner 14, mounting side plate 30, rope left segment 24-1, rope right segment 24-2, left tensioning arm 1404-1, right tensioning arm 1404-2, left arm grooved pulley 1402-1, right arm grooved pulley 1402-2, left guide pulley 15-11, right guide pulley 15-12.
The rope tensioner 14 is mounted on the mounting side plate 30 with the left and right tensioning arms 1404-1, 1404-2 being rotatable about the fixing bolt axis. The left and right rope segments 24-1, 24-2 are respectively connected to the left and right arm grooved pulleys 1402-1, 1402-2 of the left and right tension arms 1404-1, 1404-2 after crossing the left and right guide pulleys 15-11, respectively, and led out from the right guide pulleys 15-12. The right rope section 24-1 and the left rope section 24-2 are in contact with the left arm grooved pulley 1402-1 and the right arm grooved pulley 1402-2 and generate inward pressure from outside to inside with a certain pretension, so that the left tensioning arm and the right tensioning arm rotate around the near-end bolt, and the compression torsion spring is deformed; the torsion spring generates torsion after deformation, the torsion force is generated outwards, the torsion force direction is opposite to the pretension force direction, the forces in the two directions are balanced with each other, the ropes at two sides are tensioned, and the two ends of the ropes are fixed. At this time, the rope is fixedly connected under a certain pretension. If the rope is loosened, the left tensioning arm 1404-1 and the right tensioning arm 1404-2 continue to twist outwards under the action of the torsion spring, and the rope is pushed outwards, so that the rope is kept in a tensioned state. Fig. 14 is a maximum tensioning position of the rope tensioner 14.
Referring to fig. 14 and 15, the principle that the posture of the mechanical arm terminal platform unit 13 is kept unchanged is realized, and the diameter of the small arm joint pulley 16 wound by the small arm rope 22 is equal to that of the small arm joint driven wheel 10; the diameters of the first end joint pulley 17-1 and the second end joint pulley 17-2 which are wound by the end rope 23 are the same as the diameters of the end joint driven wheel 12; the arm rope 22 and the end rope 23 do not intersect with the arm rope reel 602 and the end rope reel 702 in the winding circuit;
the large arm unit 9 and the small arm unit 11 rotate at any angle, so that the posture of the tail end platform unit 13 is not changed, and the specific reasons are as follows:
wherein the symbols are expressed as: θ 1 、θ 2 、θ 3 The wrapping angles of the end rope 23 in the large arm unit 9, the small arm unit 11 and the end platform unit 13 are shown respectively; Δθ 1 、Δθ 2 、Δθ 3 Respectively representing the joint rotation angles of the big arm unit 9, the small arm unit 11 and the tail end platform unit 13; r is R 31 、R 32 、R 33 The radii of the first end joint pulley 17-1, the second end joint pulley 17-2, and the end joint driven wheel 12 are shown, respectively; l (L) 3 ′、L 3 Indicating the total coating length of the end cord 23 before and after movement, respectively.
Before the movement, in the initial position, the end rope 23 has a coating length θ on the first end joint pulley 17-1 located on the large arm unit 9 1 R 31 The wrapping length of the second end joint pulley 17-2 on the forearm unit 11 is θ 2 R 32 The length of the coating on the fixed end joint driven wheel 12 is theta 3 R 33 Thus, the total coating length of the tip rope 23 before exercise is L 3 ＝θ 1 R 31 +θ 2 R 32 +θ 3 R 33 。
When the driven wheel 8 of the large arm joint drives the large arm unit 9 to rotate by an angle delta theta 1 The forearm joint driven wheel 10 drives the forearm unit 11 to rotate by an angle delta theta 2 In the process, if the attitude of the terminal platform unit is ensured not to change relative to the geodetic coordinate system, the conditions are required to be satisfied: Δθ 3 ＝Δθ 2 -Δθ 1 。
After the movement, the wrapping length of the distal rope 23 at the first distal joint pulley 17-1 is (θ 1 -Δθ 1 )R 31 The coating length of the pulley 17-2 at the second end joint was (θ 2 +Δθ 2 )R 32 The length of the coating on the end joint driven wheel 12 is (θ 3 -Δθ 3 )R 33 The total coating length of the end rope 23 at this time is L 3 ′＝(θ 1 -Δθ 1 )R 31 +(θ 2 +Δθ 2 )R 32 +θ 3 ′R 33 . Since the end rope reel 702 does not drive the end rope 23, the rotation of each joint does not affect the total coating length of the end rope 23, i.e., L 3 ′＝L 3 . Then, after each joint rotates, the end rope is coated on the end joint driven wheel 12 at an angle
While ensuring that the first and second end joint pulleys 17-1, 17-2 around which the end rope 23 is wound are the same diameter as the end joint driven wheel 12, i.e., R 31 ＝R 32 ＝R 33 . Therefore, the wrapping angle θ of the distal rope 23 at the distal joint driven wheel 12 is 3 ′＝θ 3 -(Δθ 2 -Δθ 1 ) The angle change of the end stage unit 13 is Δθ 3 ＝Δθ 2 -Δθ 1 The condition is satisfied. It was demonstrated that the end platform pose was unchanged. />
Claims (7)
1. A rope-driven multi-degree-of-freedom serial mechanical arm is characterized in that:
comprises a base bottom plate (1), a waist platform (3), a big arm unit (9), a small arm unit (11) and a tail end platform unit (13);
the waist platform (3) is also provided with a waist driving unit (4), a big arm driving unit (5), a small arm driving unit (6) and a tail end driving unit (7); the waist driving unit (4) consists of a waist servo motor (401), a coupler, a waist rope winch (402) and a waist rope (20) wound on the waist servo motor; the large arm driving unit (5) consists of a large arm servo motor (501), a coupler, a large arm rope winch (502) and a large arm rope (21) wound on the large arm servo motor; the forearm driving unit (6) consists of a forearm servo motor (601), a coupler, a forearm rope winch (602) and a forearm rope (22) wound on the forearm servo motor; the tail end driving unit (7) consists of a tail end servo motor (701), a coupler, a tail end rope winch (702) and a tail end rope (23) wound on the tail end driving unit; the waist platform (3) is arranged on the base bottom plate (1) through the waist unit (2); the waist unit (2) comprises a waist rotating shaft (204) and a waist support (202), wherein the rotating shaft of the waist rotating shaft (204) is fixedly connected with the base bottom plate (1) along the vertical direction, the waist rotating shaft (204) is fixedly connected with the waist platform (3), the waist rotating shaft (204) is sleeved on the waist support (202), and the waist rotating shaft (204) is connected with the waist support (202) through a bearing; both ends of a waist rope (20) of the waist driving unit (4) are respectively wound on and fixed with a waist rotating shaft (204);
The waist platform (3) is fixedly provided with a waist left side plate (302-1) and a waist right side plate (302-2), and a horizontally arranged big arm joint rotating shaft (901) is arranged between the waist left side plate (302-1) and the waist right side plate (302-2); the large arm joint rotating shaft (901) is also provided with a large arm joint driven wheel (8), a small arm joint pulley (16) and a first tail end joint pulley (17-1); the lower end of the big arm unit (9) and the big arm joint driven wheel (8) are fixedly connected with a big arm joint rotating shaft (901); two ends of a big arm rope (21) of the big arm driving unit (5) are respectively wound on and fixed with the big arm joint driven wheel (8); the big arm unit (9) is also provided with a small arm rope tensioning device (14-1);
the lower end of the small arm unit (11) is connected with the upper end of the large arm unit through a small arm joint rotating shaft which is horizontally arranged; the forearm joint rotating shaft is also provided with a forearm joint driven wheel (10) and a second end joint pulley (17-2); the lower end of the forearm unit (11) and the forearm joint driven wheel (10) are fixedly connected with a forearm joint rotating shaft; the two ends of the small arm rope (22) pass through the small arm joint pulley (16) and the small arm rope tensioning device (14-1) in sequence and then are respectively wound on and fixed with the small arm joint driven wheel (10); the forearm unit (11) is also provided with a tail end rope tensioning device (14-2);
The lower end of the tail end platform unit (13) is connected with the upper end of the forearm unit (13) through a tail end joint rotating shaft (1301) which is horizontally arranged; the end joint rotating shaft (1301) is also provided with an end joint driven wheel (12); the lower end of the tail end platform unit (13) and the tail end joint driven wheel (12) are fixedly connected with a tail end joint rotating shaft; the two ends of the tail end rope (23) of the tail end driving unit (7) pass through the first tail end joint pulley (17-1), the second tail end joint pulley (17-2) and the tail end rope tensioning device (14-2) in sequence and then are respectively wound on and fixed with the tail end joint driven wheel (12);
the small arm rope tensioning device (14-1) and the tail end rope tensioning device (14-2) have the same structure and the following structure,
comprises a base plate (1410), a left tensioning arm (1404-1) and a right tensioning arm (1404-2); an upper bolt hole and a lower bolt hole are formed in the base plate (1410), the right end of the left tensioning arm is mounted at one bolt hole through a bolt, and the left end of the right tensioning arm is mounted at the other bolt hole through a bolt; the left end of the left tensioning arm is provided with a left arm grooved pulley (1402-1), and the right end of the right tensioning arm is provided with a right arm grooved pulley (1402-2);
the left tensioning arm is also provided with a torsion spring hole sleeve, a left arm torsion spring (1408-1) and a fixing nut at the corresponding bolt hole; the left arm torsion spring (1408-1) and the torsion spring hole sleeve are positioned between the base plate (1410) and the left tensioning arm (1404-1), the left arm torsion spring (1408-1) is sleeved on the torsion spring hole sleeve, the torsion spring hole sleeve is sleeved on the bolt shaft, and the tail end of the bolt shaft is fixed through the bolt shaft nut; one end of the left arm torsion spring (1408-1) is fixed through a flange of the base plate, and the other end is fixed through a flange of the left tensioning arm;
The right tensioning arm is also provided with a torsion spring hole sleeve, a right arm torsion spring (1408-2) and a fixing nut at the corresponding bolt hole; the right arm torsion spring (1408-2) and the torsion spring hole sleeve are positioned between the base plate (1410) and the right tensioning arm (1404-2), the right arm torsion spring (1408-2) is sleeved on the torsion spring hole sleeve, the torsion spring hole sleeve is sleeved on the bolt shaft, and the tail end of the bolt shaft is fixed through the bolt shaft nut; one end of the right arm torsion spring (1408-2) is fixed through a flange of the base plate, and the other end is fixed through a flange of the right tensioning arm;
the left tensioning arm and the right tensioning arm are perpendicular to the base plate without external force.
2. A rope-driven multiple degree of freedom tandem mechanical arm according to claim 1, wherein:
the diameter of the forearm joint pulley (16) is equal to that of the forearm joint driven wheel (10);
the diameters of the first end joint pulley (17-1) and the second end joint pulley (17-2) are the same as the diameter of the end joint driven wheel (12);
the arm rope (22) and the arm rope winch (602) form a winding loop, the tail end rope (23) and the tail end rope winch (702) form a winding loop, and the two winding loops do not have intersection.
3. A rope-driven multiple degree of freedom tandem mechanical arm according to claim 1, wherein: the arm rope tensioner (14-1) and the end rope tensioner (14-2) are each of a separate modular design, the number of which is determined by the number of ropes that need to be tensioned.
4. A rope-driven multiple degree of freedom tandem mechanical arm according to claim 1, wherein: the large arm rope winch (502), the large arm joint driven wheel (8) and the central symmetry line of the large arm rope (21) are positioned on the same plane; the center symmetry lines of the forearm rope winch (602), the forearm joint pulley (16), the forearm joint driven wheel (10) and the forearm rope (22) are positioned on the same plane; the center symmetry lines of the tail end rope winch (702), the first tail end joint pulley (17-1), the second tail end joint pulley (17-2), the tail end joint driven wheel (12) and the tail end rope (23) are in the same plane.
5. The rope-driven multiple degree of freedom tandem mechanical arm of claim 1 wherein: the reduction ratios between the waist rope winch (402) and the waist rotating shaft (204), between the big arm rope winch (502) and the big arm joint driven wheel (8), between the small arm rope winch (602) and the small arm joint driven wheel (10) and between the tail end rope winch (702) and the tail end joint driven wheel (12) are respectively recorded as n0, n1, n2 and n3, so that the number of thread groove coils on the waist rope winch (402), the big arm rope winch (502), the small arm rope winch (602) and the tail end rope winch (702) is respectively not smaller than n0, n1, n2 and n3, and the thread pitches are not smaller than the diameters of the corresponding waist rope (20), the big arm rope (21), the small arm rope (22) and the tail end rope (23).
6. The driving method of the rope-driven multiple degree of freedom serial mechanical arm according to claim 1, wherein:
the waist platform (3) rotates around the waist support (202) and has a vertical rotation degree of freedom, the big arm unit (9) has a rotation degree of freedom vertical to the axis of the waist unit (2), the small arm unit (11) has a rotation degree of freedom vertical to the axis of the waist unit (2), and the tail end platform unit (13) has a rotation degree of freedom vertical to the axis of the waist unit (2);
the waist rope winch (402) on the waist driving unit (4), the big arm rope winch (502) on the big arm driving unit (5), the small arm rope winch (602) on the small arm driving unit (6) and the tail end rope winch (702) on the tail end driving unit (7) can wind and release corresponding ropes to transfer motion and force, so that the waist rotating shaft (204), the big arm joint rotating shaft (901), the small arm joint rotating shaft and the tail end joint rotating shaft (1301) are driven to rotate, and the multi-degree-of-freedom serial mechanical arm motion driven by the ropes is realized;
the arm rope tensioning device (14-1) keeps the arm rope (22) passing over the arm rope tensioning device in a tensioning state all the time, and the tail end rope tensioning device (14-2) keeps the tail end rope (23) passing over the tail end rope tensioning device in a tensioning state all the time.
7. The method of driving a rope-driven multiple degree of freedom tandem mechanical arm according to claim 6, wherein:
the diameter of the forearm joint pulley (16) is equal to that of the forearm joint driven wheel (10); the diameters of the first end joint pulley (17-1) and the second end joint pulley (17-2) are the same as the diameter of the end joint driven wheel (12); the small arm rope (22) and the small arm rope winch (602) form a winding loop, the tail end rope (23) and the tail end rope winch (702) form a winding loop, and the two winding loops are not crossed;
any angle of rotation of the big arm unit (9) and the small arm unit (11) does not change the posture of the tail end platform unit (13), and the specific reasons are as follows:
θ 1 、θ 2 、θ 3 the coating angles of the tail end rope (23) on the big arm unit (9), the small arm unit (11) and the tail end platform unit (13) are respectively shown; Δθ 1 、Δθ 2 、Δθ 3 Respectively representing the joint rotation angles of the big arm unit (9), the small arm unit (11) and the tail end platform unit (13); r is R 31 、R 32 、R 33 Respectively representing the radius of the first end joint pulley (17-1), the second end joint pulley (17-2) and the end joint driven wheel (12); l (L) 3 、L 3 ' represents the total coating length of the end rope (23) before and after movement, respectively;
before the movement, when in the initial position, the wrapping length of the tail end rope (23) on the first tail end joint pulley (17-1) positioned on the big arm unit (9) is theta 1 R 31 The wrapping length of the second end joint pulley (17-2) on the forearm unit (11) is theta 2 R 32 A coating length theta on the fixed end joint driven wheel (12) 3 R 33 Thus, the total coating length of the tip rope (23) before movement is L 3 ＝θ 1 R 31 +θ 2 R 32 +θ 3 R 33 ；
When the big arm joint driven wheel (8) drives the big arm unit (9) to rotate by an angle delta theta 1 The forearm joint driven wheel (10) drives the forearm unit (11) to rotate by an angle delta theta 2 In order to ensure that the attitude of the end platform unit does not change relative to the geodetic coordinate systemThe conditions are satisfied: Δθ 3 ＝Δθ 2 -Δθ 1 ；
After the movement, the wrapping length of the end rope (23) at the first end joint pulley (17-1) is (theta) 1 -Δθ 1 )R 31 The coating length of the second end joint pulley (17-2) is (theta) 2 +Δθ 2 )R 32 The wrapping length of the end joint driven wheel (12) is (theta) 3 -Δθ 3 )R 33 The total coating length of the end rope (23) at this time is L 3 ′＝(θ 1 -Δθ 1 )R 31 +(θ 2 +Δθ 2 )R 32 +θ 3 ′R 33 The method comprises the steps of carrying out a first treatment on the surface of the Since the end rope winch (702) does not drive the end rope (23), the rotation of each joint does not affect the total coating length of the end rope (23), i.e. L 3 ′＝L 3 The method comprises the steps of carrying out a first treatment on the surface of the Then, after each joint rotates, the end rope is coated on the end joint driven wheel (12) at an angle
While ensuring that the diameters of the first end joint pulley (17-1) and the second end joint pulley (17-2) are the same as the diameter of the end joint driven wheel (12), namely R 31 ＝R 32 ＝R 33 The method comprises the steps of carrying out a first treatment on the surface of the Therefore, the wrapping angle of the end rope (23) on the end joint driven wheel (12) is theta 3 ′＝θ 3 -(Δθ 2 -Δθ 1 ) The angle of the end platform unit (13) is changed to delta theta 3 ＝Δθ 2 -Δθ 1 The attitude of the end platform unit is unchanged. />
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| CN109879190B (en) * | 2019-03-07 | 2023-12-19 | 山东万仞机电科技股份有限公司 | Rope climbing conveyor |
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| CN114851239B (en) * | 2022-03-04 | 2024-03-12 | 深圳鹏行智能研究有限公司 | Front end joint, middle joint, bendable mechanical part of line drive machine and robot |
| CN114536317B (en) * | 2022-04-26 | 2022-09-06 | 中国科学院自动化研究所 | Tendon rope driving unit and driving device for dexterous hand and bionic dexterous hand |
| CN114734465B (en) * | 2022-06-13 | 2022-09-16 | 中国汽车技术研究中心有限公司 | Arm for collision dummy, control method, apparatus, and storage medium |
| CN115107012B (en) * | 2022-06-14 | 2024-06-25 | 合肥工业大学 | Variable-rigidity flexible cable driving 7-degree-of-freedom serial spraying mechanical arm |
| US11610514B1 (en) | 2022-09-29 | 2023-03-21 | China Automotive Technology And Research Center Co., Ltd | Arm for crash dummy, control method, device and storage medium |
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| JP2005288590A (en) * | 2004-03-31 | 2005-10-20 | Hiroshi Kinoshita | Multi-joint manipulator |
| CN100464958C (en) * | 2007-02-09 | 2009-03-04 | 北京航空航天大学 | Rope-driven redundancy mechanical arm |
| CN101733743B (en) * | 2010-01-02 | 2011-07-06 | 华南理工大学 | Drawing wire type serial mechanical arm |
| CN102941573B (en) * | 2012-11-13 | 2015-02-25 | 庄德胜 | Rope-driving multi-joint robot |
| CN206967474U (en) * | 2017-06-26 | 2018-02-06 | 南京航空航天大学 | Rope driving multiple degrees of freedom series connection mechanical arm |
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