CN108908319B - Lightweight flexible robot - Google Patents
Lightweight flexible robot Download PDFInfo
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- CN108908319B CN108908319B CN201810768258.4A CN201810768258A CN108908319B CN 108908319 B CN108908319 B CN 108908319B CN 201810768258 A CN201810768258 A CN 201810768258A CN 108908319 B CN108908319 B CN 108908319B
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- driving
- rope
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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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Abstract
The invention discloses a lightweight flexible robot, which comprises a control box, a flexible mechanical arm and a plurality of driving ropes, wherein the driving ropes are uniformly distributed along the direction of a circumference, are fixedly connected with the flexible mechanical arm after extending along the axial direction of the circumference, and are driven by the control box to pull the flexible mechanical arm to move; along the diameter direction parallel to the steps on the circumference, the displacement of each mounting structure relative to the step is in direct proportion to the projection distance of a connecting line between the circle center of each driving rope and the circle center of the circumference on the step. The compact arrangement of all parts in the control box can be realized, the envelope size of the whole control box is reduced, and the applicable scene of the robot is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a rope-driven flexible robot.
Background
Currently, industrial robots with high efficiency and high precision have been widely applied in the manufacturing fields of electrical, chemical and mechanical industries, but the conventional industrial robots are limited by their excessive size or high rigidity, and cannot be adapted to extremely narrow and dangerous working environments, such as pipeline cleaning. Compared with the traditional mechanical arm, the flexible arm joint can realize bending, stretching and twisting of a plurality of continuous parts due to the inherent super-redundancy characteristic, and the motion and operation capacity in a limited space are far higher than that of the traditional multi-joint rigid connecting rod robot.
Considering that the operation arm of the flexible robot is limited by the limit length even if the operation arm has the telescopic function, the whole robot needs to be moved to complete the execution task in partial application scenes, the size of a drive control box of the robot is larger than that of an operation wall under the common condition, and the narrow space which the robot can enter is limited by the size of the drive control box, so that the reduction of the envelope size of the drive control box has positive significance for the robot to adapt to the extreme environment.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a light flexible robot which is used for solving the problems that the existing control box applying a guide rail sliding block system is difficult to realize compact arrangement, occupies large space and cannot be suitable for extreme environments requiring complete machine movement.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a lightweight flexible robot comprises a control box, a flexible mechanical arm and a plurality of driving ropes, wherein the driving ropes are uniformly distributed along the circumferential direction, extend along the circumferential axial direction and are fixedly connected with the flexible mechanical arm, and the flexible mechanical arm is driven by the control box to pull the flexible mechanical arm to move; along the diameter direction parallel to the steps on the circumference, the displacement of each mounting structure relative to the step is in direct proportion to the projection distance of a connecting line between the circle center of each driving rope and the circle center of the circumference on the step.
As a further improvement of the above scheme, the control panel includes a first step area and a second step area which are arranged in parallel, and both the first step area and the second step area include a plurality of steps.
As a further improvement of the scheme, the adjacent steps of the first step area and the second step area are equal in height.
As a further improvement of the above scheme, the height of each step in the first step area is gradually increased along the axial direction, and the endmost step is higher than any other step; in the second step area, the step adjacent to the highest step is lower than any other step, except the lowest step, other steps in the second step area are gradually increased along the axial direction and have the same height as the adjacent step in the first step area.
As a further improvement mode of the scheme, the steps are obliquely arranged in the diameter direction parallel to the steps on the relative circumference, and the adjacent steps of the first step area and the second step area are arranged in a staggered mode.
As a further improvement of the above, the mounting structure is a through hole penetrating the step.
As a further improvement mode of the scheme, the control box comprises a wheel shaft and a driving device, the wheel shaft is fixed on each step through a mounting structure, and the driving ropes are driven by the corresponding driving devices to stretch and retract and are uniformly distributed along the circumferential direction after being wound out of the corresponding wheel shafts.
As a further improvement mode of the scheme, the driving device comprises a rotating motor and a wire spool, the wire spool is fixedly connected with a driving shaft of the rotating motor, the end part of the driving rope can be fixed on the wire spool, and the driving rope can be wound in a wire slot of the wire spool.
As a further improvement mode of the scheme, the driving device further comprises a wire protecting seat arranged along the periphery of the wire spool to seal the wire groove, and an opening for the driving rope to extend out is arranged on the wire protecting seat.
As a further improvement mode of the scheme, the control box further comprises a driving rope support, the driving rope support is perpendicular to the axial direction, a plurality of rope holes are uniformly distributed in the driving rope support along the circumferential direction, and the driving ropes are correspondingly arranged in the rope holes in a penetrating mode.
The invention has the beneficial effects that:
according to the control box, the plurality of steps which are distributed in a stepped mode and the mounting structures corresponding to the driving ropes on the steps are adopted, under the condition that the driving ropes are uniformly distributed along the circumference, the compact arrangement of all parts in the control box can be realized, the envelope size of the whole control box is reduced, the overall size of the robot is reduced, and the applicable scene of the robot is improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic perspective view of one embodiment of a lightweight flexible robot of the present invention;
FIG. 2 is a schematic view of the connection between adjacent arm segments of the flexible robotic arm of the present invention;
FIG. 3 is a top view of one embodiment of a control panel of the present invention;
FIG. 4 is a side view of one embodiment of a control panel of the present invention;
FIG. 5 is a schematic perspective view of one embodiment of a control panel of the present invention;
FIG. 6 is a schematic perspective view of one embodiment of a control box of the present invention;
fig. 7 is a schematic view of the combination of the drive rope, axle and drive means 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. Furthermore, the descriptions of up, down, left, right, front, rear, etc. used in the present invention are only relative 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.
Referring to fig. 1, there is shown a perspective view of one embodiment of the flexible robot of the present invention, in which a flexible robot arm is truncated. As shown in the figure, the flexible robot comprises a control box 1, a flexible mechanical arm 2 and a plurality of driving ropes 3, wherein the driving ropes 3 are uniformly distributed along the circumferential direction, are fixedly connected with the flexible mechanical arm 2 after axially extending along the circumference, and are driven by the control box 1 to pull the flexible mechanical arm to move.
Referring to fig. 2, a schematic view of the connection between adjacent arm segments of a flexible robotic arm of the present invention is shown. Flexible mechanical arm 2 includes a plurality of arm sections 21, connect through rotating connecting block 22 between the adjacent arm section 21, it is the rectangle to rotate connecting block 22, respectively be equipped with a pivot or pivot hole on its four sides, adjacent arm section 21 rotates through pivot hole or pivot and connects on rotating connecting block 22, thereby make four rotational degrees of freedom have between the adjacent arm section 21, under the pulling of corresponding driving rope 3, flexible mechanical arm 2 can realize multidirectional bending. In addition, arm sections 21 can be linked through a linkage rope, and the number of driving ropes is reduced. The specific structure and linkage rope scheme of the flexible mechanical arm 2 can adopt the prior art, and the detailed description is omitted.
Referring to fig. 3 to 5, a top view, a side view and a perspective view of an embodiment of the control panel of the present invention are respectively shown. As shown in fig. 3, the control panel is generally rectangular as a whole, and is generally divided into a first step area 101 and a second step area 102 arranged in parallel along the illustrated X-axis forward direction, the first step area 101 and the second step area 102 are respectively provided with a plurality of steps along the illustrated Y-axis forward direction, preferably, the first step area 101 sequentially includes a first step 11a, a second step 11b, a third step 11c, a fourth step 11d, a fifth step 11e and a sixth step 11f, and the second step area 102 sequentially includes a seventh step 11g, an eighth step 11h, a ninth step 11i, a tenth step 11j, an eleventh step 11k and a twelfth step 11 m.
Through holes 111 and through holes 112 are arranged on each step approximately along the X-axis direction, wherein the through holes 111 in the same area are distributed along an arc-shaped track to be used as an installation structure for fixing components such as a wheel shaft, and the second through holes 112 in the same area are distributed along a straight line to be used for fixing components such as a motor.
In this embodiment, each step is disposed obliquely with respect to the X-axis direction in fig. 3, and the adjacent steps of the first step area 101 and the second step area 102 are disposed in a staggered manner, so as to avoid the mutual interference of the components such as the motor, the wheel shaft, and the encoder mounted on the control panel, and reduce the area of the panel while satisfying the requirement for normal mounting of the above components.
As shown in fig. 4 and 5, the steps on the control panel have different height gradients, and preferably, the height of each step in the first step area 101 gradually increases along the positive direction of the Y axis, and the endmost sixth step 11f is higher than any other step. In the second stepped region 102, the twelfth step 11m adjacent to the highest sixth step 11f is lower than any other step. The heights of the other steps in the second stepped region 102 except for the lowermost twelfth step 11m gradually increase in the positive Y-axis direction. Further, the adjacent steps in the first step region 101 and the second step region 102 are equal in height except for the sixth step 11f and the twelfth step 11 m.
The front end of the control panel is preferably further fixed with a driving rope support 12, the driving rope support 12 is provided with a plurality of rope holes 121 uniformly distributed along the circumferential direction, and the axial direction of the circumference is the Y-axis direction in fig. 3. In this embodiment, 12 rope holes are preferably provided, i.e. the number of steps corresponds to the number of rope holes one by one. Meanwhile, the rope holes of the embodiment are distributed according to a certain rule, namely, one rope hole is formed in the highest point and the lowest point of the circumference, and other rope holes are symmetrically and uniformly distributed in a concentric mode through the circle centers of the two rope holes.
In the invention, the distribution rule of the steps and the through holes 111 is related to the distribution rule of the rope holes. Taking the distribution of the rope holes as an example, except the rope holes at the highest point and the lowest point, the other rope holes are in a group of two and have the same height, so the steps are divided into two step areas, and the adjacent steps in the two step areas are in a group and have the same height. Meanwhile, the height of each group of steps is proportional to the height of each corresponding group of rope holes, and the height is referred to as the height along the Z-axis direction in fig. 5 and is referred to the same reference plane. The term "proportional to" as used herein includes the equivalent case, as well as the following. In addition, along the X-axis direction (i.e. the diameter direction parallel to the step on the circumference), the displacement d (referring to fig. 1, the dotted line passes through the center of the circle where the driving rope is distributed) of the through hole 111 relative to the step is proportional to the projection distance of the connecting line between the center of each rope hole and the center of the circle on the step.
According to the above rule, the sixth step 11f corresponds to the highest rope hole, the twelfth step 11m corresponds to the lowest rope hole, and the 5 rope holes corresponding to the first step area 101, except the two rope holes, sequentially correspond to the first step 11a, the second step 11b, the third step 11c, the fourth step 11d and the fifth step 11e along the direction from bottom to top; for the 5 rope holes corresponding to the second step area 102, the seventh step 11g, the eighth step 11h, the ninth step 11i, the tenth step 11j and the eleventh step 11k sequentially correspond to each other along the direction from bottom to top.
According to the distribution of the rope holes in the embodiment, the lowest twelfth step 11m is separately positioned at the forefront of other steps, and the highest sixth step 11f is separately positioned at the rearmost of other steps, so that the wiring is more convenient, however, according to the arrangement, a separate protruding structure is formed at the front end and the rear section of the step area, and the twelfth step 11m is arranged at the rear part to be parallel to the sixth step 11f, so that the width of one step can be saved, and the area of the control panel is reduced.
Since the lowest twelfth step 11m is located at the end of the second step area 102, in order to facilitate the routing of the driving rope corresponding to the twelfth step 11m, a routing gap 103 is further provided between the first step area 101 and the second step area 102.
The step and the through hole of the present invention are distributed depending on the distribution of the string holes, and thus the present invention is not limited to the above-described embodiment. If the number of the rope holes is changed, the number of the steps and the number of the through holes are changed synchronously; when a group of rope holes with equal height does not exist, a group of steps with equal height does not need to be arranged.
Referring to fig. 6, a schematic perspective view of one embodiment of the control box of the present invention is shown. As shown, the control box comprises a driving rope, an axle 13 and a driving device in addition to the control panel. The wheel shafts 13 are correspondingly arranged on the steps through the through holes 111, and the driving devices are correspondingly arranged on the steps through the through holes 112. The driving rope is wound out from the corresponding wheel shaft 13, passes through the corresponding rope hole, is connected with the flexible arm, and is driven by the corresponding driving device to stretch and retract.
According to the invention, through the plurality of steps which are arranged in a stepped manner and the through holes 111 (mounting structures) which correspond to the rope holes (driving ropes) on the steps, under the condition that the driving ropes are uniformly distributed along the circumference, compact arrangement of all parts in the control box can be realized, the envelope size of the whole control box is favorably reduced (the volume of the invention can be reduced to 1/4-1/3 of the volume of the existing control box), and the applicable scene of the robot is improved.
Referring to fig. 7, a schematic view of the drive rope, axle and drive arrangement of the present invention is shown. As shown in the figure, the driving device includes a rotating motor 141 and a wire spool 142, the wire spool 142 is fixedly connected to a driving shaft of the rotating motor 141, and a wire slot is disposed around the wire spool 142. The end of the drive cord is fixed to the spool, and extends out of the slot of the spool 142 after being wound, and is guided by the axle 13.
The present invention may also have the driving shaft of the rotating motor 141 directly and fixedly connected to the wheel shaft 13 and the end of the driving rope directly and fixedly connected to the wheel shaft 13.
Since the depth of the slot may be affected by the size of the spool 142 and may not be sufficient to completely confine the drive cord within the slot, the present embodiment is further provided with a cord guard 143, the cord guard 143 being disposed along the perimeter of the spool 142 to close the slot and open an opening 1431 where the drive cord protrudes in a set position.
The present embodiment further includes an encoder 151 for acquiring the motion status of the motor, and an encoder 152 for acquiring the motion status of the axle, providing closed-loop feedback information for the control system.
While the invention has been described with reference to a preferred embodiment, 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. A light flexible robot comprises a control box, a flexible mechanical arm and a plurality of driving ropes, wherein each driving rope is uniformly distributed along the direction of a circumference, fixedly connected with the flexible mechanical arm after axially extending along the circumference, and driven by the control box to pull the flexible mechanical arm to move; along the diameter direction parallel to the steps on the circumference, the displacement of each mounting structure relative to the step is proportional to the projection distance of a connecting line between the circle center of each driving rope and the circle center of the circumference on the step.
2. The lightweight flexible robot of claim 1, wherein said control panel comprises a first stepped region and a second stepped region arranged side-by-side, each of said first and second stepped regions comprising a plurality of said steps.
3. The lightweight flexible robot of claim 2, wherein adjacent steps of the first and second stepped regions are of equal height.
4. The lightweight flexible robot according to claim 2, wherein each of the steps in the first step zone gradually increases in height in the axial direction, and the endmost step is higher than any other step; in the second step area, the step adjacent to the highest step is lower than any other step, and the steps other than the lowest step in the second step area gradually increase in the axial direction and are as high as the adjacent step in the first step area.
5. The lightweight flexible robot according to claim 2, wherein the step is disposed obliquely with respect to a diameter direction parallel to the step on the circumference, and the first step region is disposed offset from an adjacent step of the second step region.
6. The lightweight flexible robot according to any one of claims 1 to 5, wherein the mounting structure is a through hole penetrating the step.
7. The lightweight flexible robot according to any one of claims 1 to 5, wherein the control box includes an axle and a driving device, the axle is fixed to each step by the mounting structure, and the driving ropes are driven by the corresponding driving device to extend and retract and are uniformly distributed in the circumferential direction after being wound out from the corresponding axle.
8. The lightweight flexible robot according to claim 7, wherein the driving device includes a rotating motor and a wire spool, the wire spool is fixedly connected to a driving shaft of the rotating motor, an end of the driving rope is fixable to the wire spool, and the driving rope is windable in a wire slot of the wire spool.
9. The lightweight flexible robot according to claim 8, wherein the driving device further comprises a wire guard provided along a periphery of the wire spool to close the wire slot, the wire guard having an opening through which the driving rope extends.
10. The lightweight flexible robot according to claim 7, wherein the control box further comprises a driving rope support, the driving rope support is perpendicular to the axial direction, a plurality of rope holes are uniformly distributed in the driving rope support along the circumferential direction, and the driving ropes are correspondingly arranged in the rope holes in a penetrating manner.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810768258.4A CN108908319B (en) | 2018-07-13 | 2018-07-13 | Lightweight flexible robot |
| PCT/CN2019/084732 WO2020010903A1 (en) | 2018-07-13 | 2019-04-28 | Lightweight flexible robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810768258.4A CN108908319B (en) | 2018-07-13 | 2018-07-13 | Lightweight flexible robot |
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| Publication Number | Publication Date |
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| CN108908319A CN108908319A (en) | 2018-11-30 |
| CN108908319B true CN108908319B (en) | 2020-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810768258.4A Active CN108908319B (en) | 2018-07-13 | 2018-07-13 | Lightweight flexible robot |
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| CN (1) | CN108908319B (en) |
| WO (1) | WO2020010903A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108908319B (en) * | 2018-07-13 | 2020-07-07 | 哈尔滨工业大学（深圳） | Lightweight flexible robot |
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| JPH07276285A (en) * | 1994-03-31 | 1995-10-24 | Fuji Electric Co Ltd | Ascent/descent device |
| CN101633174A (en) * | 2009-08-03 | 2010-01-27 | 清华大学 | Device for preventing redundant robot wiring from winding and extruding |
| CN101797185A (en) * | 2010-03-11 | 2010-08-11 | 上海交通大学 | Seven-degree of freedom (DOF) mechanical slave-hand device for minimally invasive surgery |
| CN203863676U (en) * | 2014-03-20 | 2014-10-08 | 西北工业大学 | Four-freedom-degree flexible mechanical arm device driven by servo motor |
| CN105922244A (en) * | 2016-06-04 | 2016-09-07 | 上海大学 | Linear drive robot with curvature capable of being continuously changed |
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| JP4291504B2 (en) * | 2000-09-07 | 2009-07-08 | アネスト岩田株式会社 | Robot teaching bar |
| KR20140134491A (en) * | 2013-05-14 | 2014-11-24 | 삼성전자주식회사 | Robot control method |
| CN106113019B (en) * | 2016-07-22 | 2018-07-10 | 长春理工大学 | Multi-joint flexible manipulator arm |
| 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 |
| CN106945542A (en) * | 2017-02-28 | 2017-07-14 | 深圳源创智能机器人有限公司 | A kind of flexible charging robot driven based on closed loop line |
| CN107049494B (en) * | 2017-05-09 | 2024-01-26 | 深圳市罗伯医疗科技有限公司 | Medical device based on digestive endoscope |
| CN107214695A (en) * | 2017-07-21 | 2017-09-29 | 清华大学 | The drive device of flexible arm |
| CN108189000B (en) * | 2017-12-28 | 2020-05-12 | 哈尔滨工业大学深圳研究生院 | Rope-driven grabbing robot |
| CN108908319B (en) * | 2018-07-13 | 2020-07-07 | 哈尔滨工业大学（深圳） | Lightweight flexible robot |
| CN108942978B (en) * | 2018-07-13 | 2020-07-14 | 哈尔滨工业大学（深圳） | Flexible robot drive control panel and drive control box |
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2018
- 2018-07-13 CN CN201810768258.4A patent/CN108908319B/en active Active
-
2019
- 2019-04-28 WO PCT/CN2019/084732 patent/WO2020010903A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07276285A (en) * | 1994-03-31 | 1995-10-24 | Fuji Electric Co Ltd | Ascent/descent device |
| CN101633174A (en) * | 2009-08-03 | 2010-01-27 | 清华大学 | Device for preventing redundant robot wiring from winding and extruding |
| CN101797185A (en) * | 2010-03-11 | 2010-08-11 | 上海交通大学 | Seven-degree of freedom (DOF) mechanical slave-hand device for minimally invasive surgery |
| CN203863676U (en) * | 2014-03-20 | 2014-10-08 | 西北工业大学 | Four-freedom-degree flexible mechanical arm device driven by servo motor |
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| CN107598910A (en) * | 2017-10-17 | 2018-01-19 | 燕山大学 | The driving Rescaling continuity humanoid robot of tendon |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020010903A1 (en) | 2020-01-16 |
| CN108908319A (en) | 2018-11-30 |
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