CN108237551B - Rope-driven flexible mechanical arm joint group with double-degree-of-freedom linkage - Google Patents
Rope-driven flexible mechanical arm joint group with double-degree-of-freedom linkage Download PDFInfo
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- CN108237551B CN108237551B CN201711488564.4A CN201711488564A CN108237551B CN 108237551 B CN108237551 B CN 108237551B CN 201711488564 A CN201711488564 A CN 201711488564A CN 108237551 B CN108237551 B CN 108237551B
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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
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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
- B25J17/02—Wrist joints
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Abstract
The invention relates to a rope-driven flexible mechanical arm joint group with two-degree-of-freedom linkage, which comprises a rigid support, a one-way bending flexible body, a linkage rope, a driving rope, a first wire passing body and a second wire passing body. The invention alternately connects a rigid strut and a unidirectional bending flexible body along the axial direction, a first wire passing body is arranged on the circumferential outer wall of the rigid strut, and a second wire passing body is arranged on the circumferential outer wall of the unidirectional bending flexible body; the linkage rope links the one-way bending flexible body and the rigid strut through the first wire passing body and the second wire passing body to form a motion joint group; in addition, the driving rope pulls the joint group to move through the first wire passing body, so that the number of motors distributed on each joint by the flexible mechanical arm is reduced, the mass of the mechanical arm is reduced, the rigidity and the load capacity of the mechanical arm are improved, and the flexible mechanical arm is high in response speed and stable in action; meanwhile, the bending direction of the unidirectional bending flexible body and the distribution mode of the linkage rope and the driving rope are set, so that the double-freedom-degree equal-curvature bending of the flexible mechanical arm joint group is realized.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to a rope-driven flexible mechanical arm joint group with two-degree-of-freedom linkage.
Background
Along with the more and more complicated, various special occasion of arm application, researcher need improve the nimble degree of the motion of arm, accurate degree, stability and security performance on traditional industrial arm's basis, makes its better be applicable to various environment, conveniently and fast avoids barrier etc. in the environment, consequently, flexible arm takes place in due course.
In the prior art, flexible mechanical arms are recorded, one type of mechanical arm is formed by linkage of single joints through ropes, each joint is driven by a motor, the stability of the whole mechanical arm is reduced, the movement precision is reduced, and the cost is increased; the other type of mechanical arm adopts an elastic body as a mechanical arm support, the number of driving motors is reduced, but the mechanical arm is insufficient in rigidity and difficult to bear load, and a control strategy is complex during spatial motion.
Disclosure of Invention
The invention aims to solve the technical problem of providing a rope-driven flexible mechanical arm joint group with two-degree-of-freedom linkage.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a rope drive flexible mechanical arm joint group with two-degree-of-freedom linkage comprises:
a rigid strut; the side wall of the unidirectional bending flexible body is uniformly provided with two rows of hollow structures which are distributed along the axial direction and are not communicated with each other, and the two rows of hollow structures which are opposite in the circumferential direction are mutually symmetrical;
the rigid struts are alternately connected with the unidirectional bending flexible bodies along the axial direction, the bending directions of two adjacent unidirectional bending flexible bodies are vertical, and the bending directions of two alternate unidirectional bending flexible bodies are the same;
the wire passing structure is characterized in that a first wire passing body is arranged on the circumferential outer wall of the rigid strut, and a second wire passing body is arranged on the circumferential outer wall of the unidirectional bending flexible body;
one end of the linkage rope is provided with a node, the other end of the linkage rope sequentially passes through the wire passing structures on the first unidirectional bending flexible body, the first rigid support and the second unidirectional bending flexible body from bottom to top along the axis, and is fixed on the most adjacent rigid support after continuously passing through the second wire passing body on the third unidirectional bending flexible body along the axis for 180 degrees on the second rigid support; the outer side linkage rope and the inner side linkage rope which are included by the linkage ropes connecting the adjacent three sections of the unidirectional bending flexible bodies go upwards from the second rigid support, and a symmetrical splayed winding structure is formed relative to the outer wall of the flexible mechanical arm;
and one end of the driving rope sequentially penetrates through the first wire passing body from bottom to top along the axis and is fixed at the top, and the other end of the driving rope is connected with a driving device.
In a preferred embodiment, the rigid support column includes a middle column and upper and lower platforms at opposite ends of the middle column.
In a preferred embodiment, the intermediate column is a hollow tube.
In a preferred embodiment, the first wire passing body includes wire passing holes uniformly formed in the upper platform and the lower platform along the circumferential direction.
In a preferred embodiment, the first wire passing body includes a wire passing hole including an inner ring wire passing hole and an outer ring wire passing hole, the inner ring wire passing hole is used for the linkage rope to pass through, and the outer ring wire passing hole is used for the driving rope to pass through.
In a preferred embodiment, the second wire passing body comprises a wire passing sleeve fixedly mounted on the circumferential outer wall of the one-way bending flexible body, and the wire passing sleeve is provided with a wire passing hole.
In a preferred embodiment, a plurality of the wire-passing sleeves are sleeved on the circumferential outer wall of the unidirectional bending flexible body and are distributed at equal intervals along the axial direction of the unidirectional bending flexible body.
In a preferred embodiment, at least four wire passing holes are symmetrically arranged on the radial cross section of the wire passing sleeve along the circumferential direction.
In a preferred embodiment, the number of the driving ropes is three, and the driving ropes are uniformly distributed along the circumferential direction of the whole flexible mechanical arm.
In a preferred embodiment, there are five of the rigid struts and four of the unidirectional bending flexible bodies.
The invention has the beneficial effects that:
according to the invention, a rigid support and a unidirectional bending flexible body are alternately connected along the axial direction, a first wire passing body is arranged on the circumferential outer wall of the rigid support, and a second wire passing body is arranged on the circumferential outer wall of the unidirectional bending flexible body; the one-way bending flexible body is linked with the rigid strut by a linking rope through the first wire passing body and the second wire passing body to form a moving joint group; in addition, the driving rope pulls the joint group to move through the first wire passing body, the number of motors distributed on each joint of the flexible mechanical arm is reduced, the cost is reduced, the mass of the mechanical arm is reduced, the rigidity and the load capacity of the mechanical arm are improved, and each joint of the flexible mechanical arm is high in response speed and stable in action; meanwhile, the bending direction of the unidirectional bending flexible body and the distribution mode of the linkage rope and the driving rope are set, so that the double-freedom-degree equal-curvature bending of the flexible mechanical arm joint group is realized.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of the composition of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a portion of the structure of the present invention;
fig. 3 is a partial structural schematic diagram of the present invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Further, the description of the upper, lower, left, right, etc. used in the present invention is only with respect to the positional relationship of the respective components of the present invention with respect to each other in the drawings.
Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any combination of one or more of the associated listed items.
Fig. 1 is a schematic structural diagram of the components of an embodiment of the present invention, and referring to fig. 1 to 3, the two-degree-of-freedom linkage cable-driven flexible mechanical arm joint set includes:
the flexible cable comprises a rigid strut 1, a one-way bending flexible body 2, a linkage rope 3, a driving rope 4, a wire passing hole 5 and a wire passing sleeve 6.
In this embodiment, as shown in fig. 1, a first wire passing mechanism is disposed on the circumferential outer wall of the rigid support 1, and a second wire passing body is disposed on the circumferential outer wall of the one-way bending flexible body 2, where the rigid support 1 and the one-way bending flexible body 2 are alternately connected along the axial direction, and the bending directions of two adjacent one-way bending flexible bodies are perpendicular. Wherein, evenly be provided with two lists along the axial distribution's each other not intercommunicated hollow out construction on the lateral wall of one-way crooked flexible body 2, these two lists circumference relative hollow out construction mutual symmetry, one-way crooked flexible body 2 can not axial compression.
Arranging a linkage rope 3, wherein one end of the linkage rope 3 is provided with a node, the other end of the linkage rope 3 sequentially passes through a wire passing structure on a first one-way bending flexible body 201, a first rigid support 104 and a second one-way bending flexible body 202 from bottom to top along an axis, rotates on a second rigid support 105 for 180 degrees and continues to pass through a second wire passing body on a third one-way bending flexible body 203 along the axis, and then is fixed on the most adjacent rigid support 1; the linkage ropes 3 connecting the adjacent three sections of unidirectional bending flexible bodies 2 comprise outer linkage ropes 301 and inner linkage ropes 302, and the outer linkage ropes 301 and the inner linkage ropes 302 are upward from the second rigid support 105 and form symmetrical splayed winding structures relative to the outer wall of the flexible mechanical arm;
one end of the driving rope 4 sequentially passes through the first wire passing body from the bottom of the mechanical arm joint group along the axis and is fixed at the top of the mechanical arm joint group, and the other end of the driving rope is connected with the driving device.
When the bending angle of the third one-way bending flexible body 203 is theta 1,
the change δ 1 of the inner cord length is: δ 1 ═ (R-R) × θ 1-R ═ θ 1-),
the change δ 2 in the outside cord length is: δ 2 ═ R ═ θ 1-R ═ θ 1 ═ R ═ θ 1,
according to the figure 2 figure-eight winding method, the inner side linkage rope 302 passes through the inner sides of the first unidirectional bending flexible body 201, the first rigid support 104 and the second unidirectional bending flexible body 202, is wound on the second rigid support 105, passes through the outer side of the third unidirectional bending flexible body 203, and is fixed on the most adjacent rigid support 1.
In this process, the length of the link rope wound around the rigid strut 1 is unchanged, the top joint link rope is elongated r θ 1, and the bottom joint link rope is shortened r θ 2 assuming that the bottom joint bending angle is θ 2. Since the total length of the interlocking rope is constant, r θ 1 is r θ 2, and further θ 1 is θ 2, it is apparent that the first and third unidirectionally bent flexible bodies 201 and 203 spaced apart from each other are bent at equal curvatures and have the same bending rotation angle.
Therefore, two spaced joints can be bent at equal curvature through the splayed winding structure.
Here, a kinematic joint group is formed by alternately connecting a rigid strut 1 and a one-way bending flexible body 2 in the axial direction and linking the one-way bending flexible body and the rigid strut by a first and a second wire passing bodies through a linking rope 3; in addition, the driving rope 4 draws the joint group to move through the first wire passing body. The structure can reduce the number of motors of the flexible mechanical arm distributed on each joint, reduce cost, improve the rigidity and the load capacity of the mechanical arm while reducing the mass of the mechanical arm, and ensure that each joint of the flexible mechanical arm has high response speed and stable action. The double-freedom-degree equal-curvature bending of the flexible mechanical arm joint group is realized by setting the bending direction of the unidirectional bending flexible body 2 and the distribution mode of the linkage rope 3 and the driving rope 4.
The driving rope 4 is driven remotely, the driving device is far away from the mechanical arm, the mass of the mechanical arm is further reduced, an electric circuit of the driving device is not damaged by the influence of an external environment, and the driving rope is suitable for special working environments.
In this embodiment, preferably, as shown in fig. 2, the rigid support column 1 includes a middle column 101, and an upper platform 102 and a lower platform 103 at both ends of the middle column 101. At this time, the axial cross section of the rigid strut 1 is I-shaped, and the structure is stable. Here, the intermediate cylinder 101 is preferably a hollow pipe, which can further reduce the weight of the flexible robot arm.
In this embodiment, preferably, the first wire passing body includes the wire passing hole 5, so that the structure is simple; the wire passing holes 5 are uniformly formed on the upper platform 102 and the lower platform 103 along the circumferential direction, so that the linkage ropes 3 and the driving ropes 4 passing through the wire passing holes 5 are distributed regularly and do not interfere with each other.
Here, it is preferable that the wire passing hole 5 of the first wire passing body includes an inner ring wire passing hole through which the interlocking rope 3 passes and an outer ring wire passing hole through which the driving rope 4 passes.
In this embodiment, preferably, the second wire passing body includes a wire passing sleeve 6 fixedly mounted on the circumferential outer wall of the one-way bending flexible body 2, and the wire passing sleeve 6 is provided with a wire passing hole 5. The wire passing sleeve 6 has a simple structure and does not damage the structure and characteristics of the unidirectional bending flexible body 2.
Here, it is preferable that the wire passing holes opened on the wire passing sleeve 6 are equally spaced along the axial direction of the one-way bending flexible body 2.
Here, preferably, at least four wire passing holes are symmetrically arranged along the circumferential direction on the radial cross section of the wire passing sleeve 6.
In this embodiment, preferably, there are three drive ropes 4 uniformly distributed along the circumference of the entire flexible robot arm. One end of the bottom of the mechanical arm joint group keeps relatively static, and the length of the driving rope 4 corresponding to each section of the unidirectional bending flexible body 2 is adjusted by remotely driving the driving rope 4, so that the unidirectional bending flexible body 2 moves at equal angles.
In this embodiment, it is preferable that there are five rigid struts 1 and four unidirectional bending flexible bodies 2 as shown in fig. 1. Of course, the number of the rigid struts 1 and the unidirectional bending flexible bodies is not particularly limited, as long as the stability of the mechanical arm joint set structure and the suitability of the weight are ensured on the basis of meeting the work requirement.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a rope drive flexible mechanical arm joint group of two degree of freedom linkages which characterized in that includes:
a rigid strut; the side wall of the unidirectional bending flexible body is uniformly provided with two rows of hollow structures which are distributed along the axial direction and are not communicated with each other, and the two rows of hollow structures which are opposite in the circumferential direction are mutually symmetrical;
the rigid struts are alternately connected with the unidirectional bending flexible bodies along the axial direction, the bending directions of two adjacent unidirectional bending flexible bodies are vertical, and the bending directions of two alternate unidirectional bending flexible bodies are the same;
the wire passing structure is characterized in that a first wire passing body is arranged on the circumferential outer wall of the rigid strut, and a second wire passing body is arranged on the circumferential outer wall of the unidirectional bending flexible body;
one end of the linkage rope is provided with a node, the other end of the linkage rope sequentially passes through the wire passing structures on the first unidirectional bending flexible body, the first rigid support and the second unidirectional bending flexible body from bottom to top along the axis, and is fixed on the most adjacent rigid support after continuously passing through the second wire passing body on the third unidirectional bending flexible body along the axis for 180 degrees on the second rigid support; the outer side linkage rope and the inner side linkage rope which are included by the linkage ropes connecting the adjacent three sections of the unidirectional bending flexible bodies go upwards from the second rigid support, and a symmetrical splayed winding structure is formed relative to the outer wall of the flexible mechanical arm;
and one end of the driving rope sequentially penetrates through the first wire passing body from bottom to top along the axis and is fixed at the top, and the other end of the driving rope is connected with a driving device.
2. The two-degree-of-freedom linked cable-driven flexible manipulator joint set according to claim 1, characterized in that: the rigid support column comprises a middle column body, and an upper platform and a lower platform which are arranged at two ends of the middle column body.
3. The two-degree-of-freedom linked cable-driven flexible manipulator joint set according to claim 2, characterized in that: the middle column body is a hollow pipeline.
4. The two-degree-of-freedom linked cable-driven flexible manipulator joint set according to claim 2, characterized in that: the first wire passing body comprises wire passing holes which are uniformly formed in the upper platform and the lower platform along the circumferential direction.
5. The two-degree-of-freedom linked cable driven flexible manipulator joint set according to claim 4, wherein: the first wire passing body comprises a wire passing hole which comprises an inner ring wire passing hole and an outer ring wire passing hole, the linkage rope passes through the inner ring wire passing hole, and the driving rope passes through the outer ring wire passing hole.
6. The two-degree-of-freedom linked cable-driven flexible manipulator joint set according to claim 1, characterized in that: the second wire passing body comprises a wire passing sleeve fixedly mounted on the circumferential outer wall of the one-way bending flexible body, and a wire passing hole is formed in the wire passing sleeve.
7. The two-degree-of-freedom linked cable driven flexible manipulator joint set according to claim 6, wherein: the wire passing holes formed in the wire passing sleeve are distributed at equal intervals along the axial direction of the unidirectional bending flexible body.
8. The two-degree-of-freedom linked cable driven flexible manipulator joint set according to claim 7, wherein: at least four wire passing holes are symmetrically arranged on the radial cross section of the wire passing sleeve along the circumferential direction.
9. The two-degree-of-freedom linked cable-driven flexible manipulator joint set according to claim 1, characterized in that: the number of the driving ropes is three, and the driving ropes are uniformly distributed along the circumferential direction of the whole flexible mechanical arm.
10. The two degree-of-freedom linked cable driven flexible robotic arm joint set according to any one of claims 1 to 9, wherein: the number of the rigid struts is five, and the number of the unidirectional bending flexible bodies is four.
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 |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711488564.4A 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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| CN108237551A CN108237551A (en) | 2018-07-03 |
| CN108237551B true CN108237551B (en) | 2021-04-30 |
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| KR102349030B1 (en) * | 2019-08-29 | 2022-01-10 | 한국과학기술원 | Flexible drive manipulator |
| CN111037545B (en) * | 2019-12-30 | 2023-03-14 | 中国科学院沈阳自动化研究所 | Rope drives formula arm of establishing ties |
| CN111496840B (en) * | 2020-06-11 | 2021-09-24 | 山东大学 | Multi-degree-of-freedom variable-rigidity robot joint based on integral tensioning structure and working method thereof |
| CN115816432A (en) * | 2022-12-01 | 2023-03-21 | 康荣杰 | Rigidity anisotropic continuum joint capable of axially rotating |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2005014098A (en) * | 2003-06-23 | 2005-01-20 | Nachi Fujikoshi Corp | Wrist mechanism of industrial robot |
| CN105150219B (en) * | 2015-09-28 | 2017-06-23 | 哈尔滨工业大学深圳研究生院 | A kind of super redundancy flexible mechanical arm driven based on rope |
| CN106737629B (en) * | 2017-02-28 | 2019-11-01 | 深圳源创智能机器人有限公司 | A kind of flexible arm linkage robot based on rope driving |
| CN106826907B (en) * | 2017-02-28 | 2019-11-26 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
| CN106625638B (en) * | 2017-02-28 | 2019-04-12 | 深圳源创智能机器人有限公司 | A kind of fast changeable linkage flexible charging robot based on rope driving |
| CN107263528A (en) * | 2017-07-21 | 2017-10-20 | 清华大学 | The flexible joint structure of flexible arm |
| CN107186707B (en) * | 2017-07-21 | 2020-09-29 | 清华大学 | Mechanical structure of flexible arm |
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