CN108237551A - A kind of rope driving flexible mechanical shoulder joint group of double freedom linkage - Google Patents
A kind of rope driving flexible mechanical shoulder joint group of double freedom linkage Download PDFInfo
- Publication number
- CN108237551A CN108237551A CN201711488564.4A CN201711488564A CN108237551A CN 108237551 A CN108237551 A CN 108237551A CN 201711488564 A CN201711488564 A CN 201711488564A CN 108237551 A CN108237551 A CN 108237551A
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- CN
- China
- Prior art keywords
- rope
- bend
- joint group
- rigid support
- shoulder joint
- Prior art date
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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
- B25J17/00—Joints
-
- 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
Abstract
Rope the present invention relates to a kind of linkage of double freedom drives flexible mechanical shoulder joint group, and wire body is crossed including rigid support, bend in one direction flexible body, linkage rope, driving rope and first, second.Alternately connection rigid support and bend in one direction flexible body, the peripheral outer wall of rigid support are provided with first and cross wire body the present invention in an axial direction, and the peripheral outer wall of bend in one direction flexible body is provided with second and crosses wire body；The rope that links crosses wire body by first, second and bend in one direction flexible body and rigid support links, and forms movable joint group；It is another to there is driving rope to cross wire body traction joint group movement by first, the motor number that flexible mechanical arm is distributed on each joint is reduced, mitigates mechanical arm quality, improves mechanical arm rigidity and load-carrying ability, flexible mechanical arm fast response time, stable action；The bending direction of bend in one direction flexible body and linkage rope, the distribution mode for driving rope are set simultaneously, realize the bending of flexible mechanical shoulder joint group double freedom iso-curvature.
Description
Technical field
The rope to link the present invention relates to mechanical arm field more particularly to a kind of double freedom drives flexible mechanical shoulder joint
Group.
Background technology
With mechanical arm be applied to become increasingly complex, various special occasions, researcher is in traditional industry mechanical arm
On the basis of, it needs to improve the degree of flexibility of the movement of mechanical arm, levels of precision, stability and security performance, makes it preferably
Suitable for various environment, conveniently and efficiently avoiding obstacles etc. in the environment, therefore, flexible mechanical arm comes into being.
In the prior art about the record of flexible mechanical arm, a kind of mechanical arm is that simple joint is linked by rope, while each
Joint is driven by motor, and the stability of whole mechanical arm reduces, and kinematic accuracy reduces, cost raising；Another kind of mechanical arm is to adopt
It is supported by the use of elastomer as mechanical arm, reduces the quantity of driving motor, but mechanical arm insufficient rigidity, it is difficult to load is born, and
Its control strategy is complicated during spatial movement.
Invention content
The technical problems to be solved by the invention are to provide a kind of rope driving flexible mechanical arm of double freedom linkage
Joint group using the device of the invention, can improve machinery while reducing driving motor number, mitigating mechanical arm quality
The response speed of arm makes flexible mechanical arm have certain rigidity and load-carrying ability, and each composition joint of flexible mechanical arm
Double freedom iso-curvature bending motion.
Technical solution is used by the present invention solves above-mentioned technical problem：
A kind of rope driving flexible mechanical shoulder joint group of double freedom linkage, including：
Rigid support；Bend in one direction flexible body is evenly arranged with two row along axis on the side wall of the bend in one direction flexible body
To the mutual disconnected engraved structure of distribution, the circumferentially opposed engraved structure of this two row is symmetrical；
The rigid support replaces connection in an axial direction with the bend in one direction flexible body, and two neighboring bend in one direction is flexible
The bending direction of body is vertical, and the bending direction of alternate two bend in one direction flexible bodies is identical；
String-passing structure is provided with first in the peripheral outer wall of the rigid support and crosses wire body, the bend in one direction flexible body
Peripheral outer wall on be provided with second cross wire body；
Link rope, and one end setting node of the linkage rope, the other end sequentially passes through first along axis from bottom to top
Bend in one direction flexible body, the first rigid support, the string-passing structure on the second bend in one direction flexible body, in the second rigid support
After upper turnback continues up the second mistake wire body passed through along axis on third bend in one direction flexible body, it is fixed on most adjacent
On the nearly rigid support；Connect the outside linkage rope that the linkage rope of the adjacent three section bend in one direction flexible body includes
Rope and inside link rope from the second rigid support up, relative flexibility mechanical arm outer wall forms symmetrical eight words winding structure；
Rope is driven, one end of the driving rope sequentially passes through described first along axis from bottom to top from bottom and crosses wire body
Afterwards, top, other end connection driving device are fixed on.
In a preferred embodiment, the rigid support includes intermediate cylinder and the intermediate cylinder both ends
Upper mounting plate and lower platform.
In a preferred embodiment, the intermediate cylinder is hollow pipeline.
In a preferred embodiment, the described first wire body excessively includes the upper mounting plate and lower platform upper edge week
To the cable-through hole uniformly opened up.
In a preferred embodiment, the described first cable-through hole that wire body includes excessively includes inner ring cable-through hole and outer ring
Cable-through hole, the inner ring cable-through hole are passed through for the linkage rope, and the outer ring cable-through hole is passed through for the driving rope.
In a preferred embodiment, described second wire body is crossed including being fixedly mounted on the bend in one direction flexible body
Peripheral outer wall on cross line set, the line of crossing puts on and is provided with cable-through hole.
In a preferred embodiment, several peripheral outer walls crossed line and be sleeved on the bend in one direction flexible body
On, along the axial equidistantly distributed of the bend in one direction flexible body.
In a preferred embodiment, at least four are circumferentially symmetrically arranged on the radial cross-section for crossing line set
A cable-through hole.
In a preferred embodiment, the driving rope has three, along the circumferential uniform of whole flexible mechanical arm
Distribution.
In a preferred embodiment, there are five the rigid supports, there are four the bend in one direction flexible bodies.
The beneficial effects of the invention are as follows：
The present invention connects rigid support and bend in one direction flexible body by replacing in an axial direction, in the peripheral outer wall of rigid support
It is provided with first and crosses wire body, second is provided in the peripheral outer wall of bend in one direction flexible body and crosses wire body；There is linkage rope by the
First, second wire body is crossed by bend in one direction flexible body and rigid support linkage, one movable joint group of formation；It is another to there is driving rope to lead to
It crosses first and crosses wire body traction joint group movement, reduce the motor number that flexible mechanical arm is distributed on each joint, reduce cost,
While mitigating mechanical arm quality, the rigidity and load-carrying ability of mechanical arm, the response speed in each joint of flexible mechanical arm are improved
Soon, stable action；The bending direction of bend in one direction flexible body and linkage rope, the distribution mode for driving rope are set simultaneously,
Realize the bending of flexible mechanical shoulder joint group double freedom iso-curvature.
Description of the drawings
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the composition structure diagram of one embodiment of the invention；
Fig. 2 is the part-structure schematic diagram of the present invention；
Fig. 3 is the part-structure schematic diagram of the present invention.
Specific embodiment
The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and attached drawing clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that in situation about not conflicting
Under, the feature in embodiment and embodiment in the application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixing ", " connection " is in another feature,
It can directly fix, be connected in another feature, can also fix, be connected in another feature indirectly.In addition, this
The descriptions such as the upper and lower, left and right used in invention are only to be closed relative to the mutual alignment of each component part of the present invention in attached drawing
For system.
In addition, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article 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 as used herein " and/or " including the arbitrary of one or more relevant Listed Items
Combination.
Fig. 1 is the composition structure diagram of one embodiment of the invention, with reference to Fig. 1-3, the rope of double freedom linkage
Driving flexible mechanical shoulder joint group includes：
Rigid support 1, bend in one direction flexible body 2, link rope 3, drives rope 4, excessively cable-through hole 5 and line set 6.
In the present embodiment, as shown in Figure 1, first is provided in the peripheral outer wall of rigid support 1 crosses line mechanism, bend in one direction
Second is provided in the peripheral outer wall of flexible body 2 and crosses wire body, rigid support 1 replaces in an axial direction with bend in one direction flexible body 2 herein
Connection, and the bending direction of two neighboring bend in one direction flexible body is vertical.Wherein, on the side wall of bend in one direction flexible body 2 uniformly
The axially distributed mutual disconnected engraved structure of two row is provided with, the circumferentially opposed engraved structure of this two row is symmetrical, single
It can not be compressed axially to bending flexible body 2.
Setting linkage rope 3, one end setting node of linkage rope 3, the other end sequentially pass through the along axis from bottom to top
One bend in one direction flexible body 201, the first rigid support 104, the string-passing structure on the second bend in one direction flexible body 202, second
After turnback continues up the second mistake wire body passed through along axis on third bend in one direction flexible body 203 on rigid support 105,
It is fixed on closest rigid support 1；The linkage rope 3 for connecting adjacent three section bend in one direction flexible body 2 links including outside
Rope 301 and inside linkage rope 302, outside linkage rope 301 and inside linkage rope 302 are past from the second rigid support 105
On, relative flexibility mechanical arm outer wall forms symmetrical eight words winding structure；
One end of rope 4 is driven to sequentially pass through first from joint of mechanical arm group bottom Yan Zhou Xian and crosses wire body, is fixed on machine
At the top of tool shoulder joint group, other end connection driving device.
When the bending angle of third bend in one direction flexible body 203 is θ 1,
The variation δ 1 of inside rope length is：δ 1=(R-r) * θ 1-R* θ 1-=-r* θ 1,
The variation δ 2 of outside rope length is：δ 2=(R+r) * θ 1-R* θ 1=r* θ 1,
According to eight word winding modes in Fig. 2, inside linkage rope 302 passes through the first bend in one direction flexible body 201, first
The inside of rigid support 104, the second bend in one direction flexible body 202 winds on the second rigid support 105, then passes through third list
To the outside of bending flexible body 203, then it is fixed on closest rigid support 1.
In this process, the length of linkage rope wound on rigid support 1 is constant, and top joint linkage rope is stretched
Long r* θ 1, it is assumed that bottom end joint flexion angle is θ 2, then linkage rope in bottom end joint shortens r* θ 2.Because of linkage rope overall length not
Become, then have r* θ 1=r* θ 2, and then θ 1=θ 2, it is clear that the first bend in one direction flexible body 201, third bend in one direction separately is soft
Property body 203 be bent for iso-curvature and to be bent rotational angle consistent.
So, it can be achieved that two joints separately realize that iso-curvature is bent by the eight words winding structure.
Herein, by an axial direction alternately connection rigid support 1 and bend in one direction flexible body 2 and with the rope 3 that links by the
First, the second wire body excessively gets up bend in one direction flexible body and rigid support linkage, forms a movable joint group；It is another to there is driving to restrict
Rope 4 crosses wire body by first and draws the movement of joint group.More than structure can reduce the electricity that flexible mechanical arm is distributed on each joint
Machine number, reduces cost, while mechanical arm quality is mitigated, improves the rigidity and load-carrying ability of mechanical arm, flexible mechanical
The fast response time in each joint of arm, stable action.By set bend in one direction flexible body 2 bending direction and linkage rope 3,
The distribution mode of rope 4 is driven, realizes the bending of flexible mechanical shoulder joint group double freedom iso-curvature.
For driving rope 3 in the present invention by the way of remote boot server, driving device further mitigates machine far from mechanical arm
The quality of tool arm, the electric circuit of driving device is free from the influence of the external environment and damages, suitable for particular job environment.
In the present embodiment, it is preferable that as shown in Fig. 2, rigid support 1 includes intermediate cylinder 101, intermediate cylinder both ends 101
Upper mounting plate 102 and lower platform 103.The axial cross section of rigid support 1 is I-shaped, stable structure at this time.Herein, intermediolateral column
Body 101 is preferably hollow pipeline, can further mitigate the weight of flexible mechanical arm.
In the present embodiment, it is preferable that first, which crosses wire body, includes cable-through hole 5, simple in structure；Cable-through hole 5 is circumferentially uniformly opened
It is located on upper mounting plate 102 and lower platform 103, makes across the linkage rope 3 of cable-through hole 5 and driving 4 regularity of distribution of rope, mutually not
Interference.
Herein, it is preferable that the first cable-through hole 5 crossed in wire body includes inner ring cable-through hole and outer ring cable-through hole, and inner ring crosses line
Hole is passed through for linkage rope 3, and outer ring cable-through hole is passed through for driving rope 4.
In the present embodiment, it is preferable that second, which crosses wire body, includes being fixedly mounted in the peripheral outer wall of bend in one direction flexible body 2
Cross line set 6, cross line set 6 on is provided with cable-through hole 5.It is simple in structure to cross line set 6, and does not damage bend in one direction flexible body 2 itself
Structure and characteristic.
Herein, it is preferable that cross axial equidistantly distributed of the cable-through hole being provided on line set 6 along bend in one direction flexible body 2.
Herein, it is preferable that cross on the radial cross-section of line set 6, be circumferentially symmetrically arranged at least four cable-through holes.
In the present embodiment, it is preferable that driving rope 4 has three, is uniformly distributed along the circumferential direction of whole flexible mechanical arm.Machinery
Shoulder joint group bottom end keeps opposing stationary, by driving 4 remote boot server of rope, adjusting each section bend in one direction flexible body
The length of 2 corresponding driving ropes 4, makes bend in one direction flexible body 2 angularly move.
In the present embodiment, it is preferable that as shown in Figure 1, there are five rigid supports 1, there are four bend in one direction flexible bodies 2.When
So, the quantity of rigid support 1 and bend in one direction flexible body is not specifically limited herein, as long as in the base for meeting work requirements
On plinth, ensure the stability of joint of mechanical arm group structure and the suitability of weight.
It is that the preferable of the present invention is implemented to be illustrated, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations under the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of rope driving flexible mechanical shoulder joint group of double freedom linkage, which is characterized in that including：
Rigid support；Bend in one direction flexible body is evenly arranged with two row on the side wall of the bend in one direction flexible body and divides in an axial direction
The mutual disconnected engraved structure of cloth, the circumferentially opposed engraved structure of this two row are symmetrical；
The rigid support and the bend in one direction flexible body replace connection in an axial direction, two neighboring bend in one direction flexible body it is curved
Qu Fangxiang is vertical, and the bending direction of alternate two bend in one direction flexible bodies is identical；
String-passing structure is provided with first in the peripheral outer wall of the rigid support and spends wire body, the week of the bend in one direction flexible body
Second is provided on outer wall and crosses wire body；
Link rope, and one end setting node of the linkage rope, it is unidirectional that the other end sequentially passes through first along axis from bottom to top
Flexible body, the first rigid support, the string-passing structure on the second bend in one direction flexible body are bent, is turned on the second rigid support
After 180 degree continues up the second mistake wire body passed through along axis on third bend in one direction flexible body, it is fixed on closest institute
It states on rigid support；Connect outside linkage rope that the linkage ropes of the adjacent three section bend in one direction flexible body include with
From the second rigid support up, relative flexibility mechanical arm outer wall forms symmetrical eight words winding structure to inside linkage rope；
Drive rope, it is described driving rope one end sequentially passed through from bottom to top along axis from bottom it is described first cross wire body after,
It is fixed on top, other end connection driving device.
2. the rope driving flexible mechanical shoulder joint group of double freedom linkage according to claim 1, it is characterised in that：Institute
It states rigid support and includes intermediate cylinder and the upper mounting plate and lower platform at the intermediate cylinder both ends.
3. the rope driving flexible mechanical shoulder joint group of double freedom linkage according to claim 2, it is characterised in that：Institute
Intermediate cylinder is stated as hollow pipeline.
4. the rope driving flexible mechanical shoulder joint group of double freedom linkage according to claim 2, it is characterised in that：Institute
It states the first wire body excessively and includes the cable-through hole circumferentially uniformly opened up on the upper mounting plate and the lower platform.
5. the rope driving flexible mechanical shoulder joint group of double freedom linkage according to claim 4, it is characterised in that：Institute
It states the first cable-through hole that wire body includes excessively and includes inner ring cable-through hole and outer ring cable-through hole, the inner ring cable-through hole supplies the linkage rope
Rope passes through, and the outer ring cable-through hole is passed through for the driving rope.
6. the rope driving flexible mechanical shoulder joint group of double freedom linkage according to claim 1, it is characterised in that：Institute
State second cross wire body include be fixedly mounted in the peripheral outer wall of the bend in one direction flexible body cross line set, it is described cross line put on
It is provided with cable-through hole.
7. the rope driving flexible mechanical shoulder joint group of double freedom linkage according to claim 6, it is characterised in that：Institute
It stated line and puts on axial equidistantly distributed of the cable-through hole being provided with along the bend in one direction flexible body.
8. the rope driving flexible mechanical shoulder joint group of double freedom linkage according to claim 7, it is characterised in that：Institute
It stated and is circumferentially symmetrically arranged at least four cable-through holes on the radial cross-section of line set.
9. the rope driving flexible mechanical shoulder joint group of double freedom linkage according to claim 1, it is characterised in that：Institute
Stating driving rope has three, is uniformly distributed along the circumferential direction of whole flexible mechanical arm.
10. the rope driving flexible mechanical shoulder joint group of double freedom linkage according to any one of claim 1 to 9,
It is characterized in that：There are five the rigid supports, and there are four the bend in one direction flexible bodies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711488564.4A CN108237551B (en) | 2017-12-30 | 2017-12-30 | Rope-driven flexible mechanical arm joint group with double-degree-of-freedom linkage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711488564.4A CN108237551B (en) | 2017-12-30 | 2017-12-30 | Rope-driven flexible mechanical arm joint group with double-degree-of-freedom linkage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108237551A true CN108237551A (en) | 2018-07-03 |
| CN108237551B CN108237551B (en) | 2021-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711488564.4A Active CN108237551B (en) | 2017-12-30 | 2017-12-30 | Rope-driven flexible mechanical arm joint group with double-degree-of-freedom linkage |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111037545A (en) * | 2019-12-30 | 2020-04-21 | 中国科学院沈阳自动化研究所 | Rope-driven serial mechanical arm |
| CN111496840A (en) * | 2020-06-11 | 2020-08-07 | 山东大学 | Multi-degree-of-freedom variable-rigidity robot joint based on integral tensioning structure and working method thereof |
| CN112770878A (en) * | 2019-08-29 | 2021-05-07 | 韩国科学技术院 | Flexible driving device |
| CN115816432A (en) * | 2022-12-01 | 2023-03-21 | 康荣杰 | Rigidity anisotropic continuum joint capable of axially rotating |
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| CN115816432A (en) * | 2022-12-01 | 2023-03-21 | 康荣杰 | Rigidity anisotropic continuum joint capable of axially rotating |
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