CN108942900A - The passive de-coupling mechanism of tandem rope drive System for Joint Motion of Manipulator - Google Patents
The passive de-coupling mechanism of tandem rope drive System for Joint Motion of Manipulator Download PDFInfo
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- CN108942900A CN108942900A CN201811186672.0A CN201811186672A CN108942900A CN 108942900 A CN108942900 A CN 108942900A CN 201811186672 A CN201811186672 A CN 201811186672A CN 108942900 A CN108942900 A CN 108942900A
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- Prior art keywords
- decoupling
- pins
- rope
- hole
- driving
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- 241000531807 Psophiidae Species 0.000 claims abstract description 53
- 238000009434 installation Methods 0.000 claims description 19
- 238000003780 insertion Methods 0.000 claims description 8
- 230000037431 insertion Effects 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 230000008878 coupling Effects 0.000 abstract description 4
- 239000000203 mixture Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 3
- 229910001220 stainless steel Inorganic materials 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 239000010963 304 stainless steel Substances 0.000 description 1
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 229910000589 SAE 304 stainless steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
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- 230000015572 biosynthetic process Effects 0.000 description 1
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- 238000001356 surgical procedure Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The invention discloses the passive de-coupling mechanisms that a kind of tandem rope drives System for Joint Motion of Manipulator, it overcomes and there are problems that tandem rope drives System for Joint Motion of Manipulator coupling comprising base systems, decoupling module, No. 1 decoupling rope, 1 trumpeter's arm system, 2 trumpeter's arms, No. 2 decoupling ropes, No. 2 driving ropes are restricted with No. 1 driving；Base systems include No. 2 driving wheels, No. 1 driving wheel, base plate；1 trumpeter's arm system includes No. 1 driving wheel, No. 2 driving wheels, circular shaft and No. 1 arm board；Decoupling module is mounted in the rectangular recess of base plate by its guide rail, and 1 trumpeter's arm system is installed in right smooth through-hole on the base mounting plate by the small shaft part lower end of No. 1 driving wheel, and 2 trumpeter's arms are mounted on the right end of No. 1 arm board using key and circular shaft；In groove above No. 1 driving wheel and No. 1 driving wheel of No. 1 driving rope sling dress on the base mounting plate, base systems, decoupling module and 1 trumpeter's arm system are together in series by No. 1 decoupling rope, No. 2 decoupling ropes and No. 2 driving ropes respectively.
Description
Technical field
The present invention relates to a kind of mechanisms of passive de-coupling movement, it more particularly relates to which a kind of tandem rope drives
The passive de-coupling mechanism of System for Joint Motion of Manipulator.
Background technique
From the First manipulator that American Association Heat & Control Pty Ltd. in 1958 develops to the present, the development of tandem manipulator is
Have 60 years, Serial manipulator gradually develops toward both direction: first is that miniaturization, first is that enlarged.In developing toward enlargement, machine
What tool hand was pursued is higher load capacity；During miniaturization, the more very thin figure that manipulator is pursued, with
Just it works in narrow working space.Many researchers propose to be passed using mechanisms such as rope, gear, connecting rods as power
Defeated medium reduces the method for the figure of manipulator.It greatly can simplify and reduce string using rope as power transmitting medium
Join the movable joint of manipulator.In addition, the arm of manipulator can do more elongated, shadow of the arm geometry to robot movement
Sound also just becomes smaller, and space is just more wide.
But driven in manipulator in tandem rope, the movement in front end joint will lead to the variation of the driving rope in rear end joint
And then lead to the subsidiary rotation in joint, here it is the coupled problems of joint motions.There are two ways to handling decoupling problem: first is that
Active decoupling is carried out using motion control method, another is design decoupling-structure, passive type decoupling.Lars, which increases, learns Lincoln
Planetary gear motion principle is utilized in the surgery mechanical hand of branch school design, and the driving method that rope and gear combine is realized
Decoupling.The decoupling module of Nanjing Aero-Space University's design, then decoupled using the movement technique of running block.But it is lacked
Point is that each movable joint requires to be equipped with a decoupling module, and the figure in joint is larger, can not be applied to surgical engine
In tool hand.Therefore, it is necessary to design new decoupling mechanism, decoupling module can be separated from joint, simplify joint.
Summary of the invention
The technical problem to be solved by the present invention is to overcome tandem rope of the existing technology to drive manipulator joint fortune
The problem of dynamic coupling, provides a kind of passive de-coupling mechanism of tandem rope drive System for Joint Motion of Manipulator.
In order to solve the above technical problems, the present invention is achieved by the following technical scheme: the tandem rope drives machine
The passive de-coupling mechanism of tool swivel of hand movement includes base systems, decoupling module, No. 1 decoupling rope, 1 trumpeter's arm system, 2 trumpeters
Arm, No. 2 decoupling ropes, No. 2 driving ropes are restricted with No. 1 driving；
The base systems include No. 2 driving wheels, No. 1 driving wheel, base plate；
1 trumpeter's arm system includes No. 1 driving wheel, circular shaft, No. 1 arm board and No. 2 round end flat keys；
The decoupling module is installed by wherein guide rail in rectangular recess on the base mounting plate, and 1 trumpeter's arm system passes through 1
In the right smooth through-hole of the lower end installation of small shaft part in number driving wheel on the base mounting plate, 2 trumpeter's arms use No. 2 round end flat keys and circle
Axis is mounted on the right end of No. 1 arm board；No. 1 driving rope sling is mounted in installation No. 1 driving wheel on the base mounting plate and No. 1 driving wheel
In the annular groove of top, No. 1 decoupling rope is together in series base systems, decoupling module and 1 trumpeter's arm system, No. 2 decoupling ropes
Base systems, decoupling module and 1 trumpeter's arm system are together in series, No. 2 driving ropes are base systems, decoupling module and 1 trumpeter
Arm system is together in series.
Base systems described in technical solution further include that No. 1 guide wheel group, No. 1 pin, No. 2 pins, 2 structures are identical
No. 3 pins, identical No. 6 pins of 2 structures, No. 2 guide wheel groups, No. 3 guide wheel groups and No. 4 guide wheel groups；Described No. 1
In left smooth through-hole on the lower end insertion base plate of pin, it was between the left smooth through-hole on the lower end and base plate of No. 1 pin
It is full of cooperation, is equally interference fit between the two in the middle light through-hole on the lower end insertion base plate of No. 2 pins；No. 1 driving wheel
It is mounted on the upper end of No. 1 pin, is between the two interference fit, No. 2 driving wheels are mounted on the upper end of No. 2 pins, between the two
For interference fit, No. 1 driving wheel 16 is higher than No. 2 driving wheels；
Identical No. 3 pins of 2 structures are symmetrically mounted on base plate with longitudinally asymmetric line, and 2 structures are No. 6 identical
Pin is also symmetrically mounted on base plate with longitudinally asymmetric line；And identical No. 3 pins of 2 structures are identical as 2 structures
No. 6 pins be symmetrically mounted on base plate with the longitudinally asymmetric center line of the slot bottom of the rectangular recess on base plate, 2 knot
Identical No. 3 pins of structure No. 6 pins identical with 2 structures are symmetrically mounted at the two sides of rectangular recess；After longitudinally asymmetric line
The upper end interference fit of No. 3 pins of side is mounted with that No. 1 guide wheel group, the upper end interference fit of No. 3 pins at rear are mounted with 3
Number guide wheel group；The upper end of No. 6 pins at longitudinally asymmetric line rear is mounted with No. 2 guide wheel groups, No. 6 in front of longitudinally asymmetric line
Pin) upper end be mounted with No. 4 guide wheel groups.
Base plate described in technical solution is the plate structure part of strip, and base plate is by left semicircle plate, middle rectangular slab
With right semi-circle board group at left semicircle plate, middle rectangular slab are connected with right semi-circle plate, and the right end of base plate also sets up one downwards
Recessed arc-shaped heavy platform；The front and back both sides circular arc wall outstanding of arc-shaped heavy platform is limited in face of 1 trumpeter's arm system, arc-shaped heavy platform
On be provided with through-hole, through hole center is overlapped with semi arch center；It is identical that the front and back both sides in the middle section of base plate are provided with structure
Rectangular boss, the right side adjacent with rectangular boss are provided with the rectangular recess for installing decoupling module, pass through before and after rectangular recess
Logical, the center line on the slot bottom of rectangular recess along longitudinal direction is provided with 3 threaded holes, and the identical rectangular boss of 2 structures is for solid
Fixed No. 1 decoupling, which is restricted, decouples one end of rope with No. 2, and line of symmetry is provided with installation No. 1 pin, 2 from left to right along longitudinal direction on base plate
Left smooth through-hole, middle smooth through-hole and the right smooth through-hole of No. 1 driving wheel of number pin and installation, wherein right smooth through-hole is arranged arc-shaped
Through-hole in heavy platform.
Decoupling module described in technical solution further includes No. 1 decoupling wheel group, No. 2 decoupling wheel groups, No. 4 pins, No. 5 pins
With sliding block；In the blind hole of the lower end insertion slip front of No. 5 pins, the lower end of No. 5 pins and the blind hole of slip front
Between using interference fit connection, in the blind hole of the lower end insertion sliding block rear end of No. 4 pins, No. 1 decoupling wheel group is mounted on No. 5 pins
The upper end of nail is interference fit, and No. 2 decoupling wheel groups are mounted on the upper end of No. 4 pins as interference fit, and sliding block passes through its lower end
Groove is mounted on guide rail, is slidably connected between sliding block and guide rail, and guide rail is using the fixed rectangle on the base mounting plate of M3 screw
On the slot bottom of groove.
1 trumpeter's arm system described in technical solution includes that freewheel, No. 2 driving wheels, No. 1 round end flat key, No. 2 round ends are flat
Identical No. 7 pins of key, 2 structures No. 5 directive wheels identical with 2 structures；The freewheel is sleeved on No. 1 driving wheel
It is equipped on the small shaft part above No. 1 round end flat key, is matched between the small shaft part above freewheel and No. 1 round end flat key using interference
It closes, 1 trumpeter's arm sleeve-board is equipped on the small shaft part of No. 1 round end flat key mounted in No. 1 driving wheel, is equipped with No. 1 round end flat key
It is clearance fit between small shaft part and No. 1 arm board；The lower end of identical No. 7 pins of 2 structures is separately mounted to No. 1 arm board
On two blind holes in, the upper end of identical No. 7 pins of 2 structures is mounted with No. 5 directive wheels with being respectively interference fitted, circular shaft
Lower end and the right via clearance of No. 1 arm board cooperate, and are rotation connection between circular shaft and No. 1 arm board, No. 2 round end flat key installations
In the keyway of the upper shaft of circular shaft, No. 2 driving wheels are sleeved on the circular shaft for being equipped with No. 2 round end flat keys.
No. 1 arm board described in technical solution is the strip plate that the centre that both ends are semi-circular plate is rectangle, 1 trumpeter's arm
The right and left of plate is provided with left through-hole and right through-hole, and left through-hole and the right through-hole centre of gyration respectively with the semi-circular plate at both ends
Center is overlapped, and the keyway of No. 1 round end flat key of installation is provided on the hole wall of the left through-hole of No. 1 arm board；It is arranged on No. 1 arm board
There are 2 structures identical for installing the blind hole of identical No. 3 directive wheels of 2 structures, 2 blind holes are with the longitudinal direction of No. 1 arm board
Line of symmetry is arranged symmetrically, and the identical blind hole of 2 structures is between left through-hole and right through-hole.
2 trumpeter's arms described in technical solution are the strip plates that the centre that both ends are semicircular plate is rectangular slab, left half
Circular slab, rectangular slab are connected with right semicircular plate, and the left end of 2 trumpeter's arms is provided with left through-hole, the center line of left through-hole with
The center line of left semicircle shape plate coincides, and the keyway of installation key is provided on the hole wall of left through-hole.
The rope of No. 1 decoupling described in technical solution base systems, decoupling module is together in series with 1 trumpeter's arm system is
Refer to: the described No. 1 decoupling rope successively around the inboards of small-sized pulley of No. 3 guide wheel group upper ends, No. 1 decoupling wheel group upper end 1
The inboard and the cross section below No. 1 big shaft part of driving wheel of the small-sized pulley of the front side of number pulley, No. 4 guide wheel group upper ends are circle
The starting endpoint of the front side of the annular groove of arc, No. 1 decoupling rope is fixed on the rope fixing points on the right side of No. 1 driving wheel, end
It is then fixed on the front boss in base plate middle section；
The rope of No. 2 decouplings described in technical solution base systems, decoupling module is together in series with 1 trumpeter's arm system is
Refer to: the described No. 2 decouplings rope successively around the inboard of small-sized pulley of No. 1 guide wheel group upper end, No. 2 decoupling wheel group upper ends 1
The rear side of number pulley, No. 2 guide wheel group upper ends small-sized pulley inboard and the cross section below No. 1 big shaft part of driving wheel be circle
The starting endpoint of the rear side of the annular groove of arc, No. 2 decoupling ropes is also secured on the rope fixing points on the right side of No. 1 driving wheel,
End is fixed on the back boss in base plate middle section.
The rope of No. 2 drivings described in technical solution base systems, decoupling module is together in series with 1 trumpeter's arm system is
Refer to: the described No. 2 drivings rope counterclockwise successively around the front side of No. 2 driving wheels, No. 3 guide wheel group lower ends small-sized pulley in
Before side, the front side of No. 1 pulley of No. 1 decoupling wheel group lower end, the inboard of the small-sized pulley of No. 4 guide wheel group lower ends, freewheel
The inboard of No. 5 directive wheels below side, longitudinally asymmetric line, the front side of No. 2 driving wheels, No. 2 driving wheels rear side, longitudinally asymmetric line
The inboards of identical No. 5 directive wheels of the 2nd structure of top, the rear side of freewheel, No. 2 guide wheel groups small-sized pulley in
Side, the rear side of No. 1 pulley of No. 2 decoupling wheel group lower ends, No. 1 guide wheel group lower end small-sized pulley inboard and No. 2 driving wheels
Rear side, No. 2 drivings rope is closed steel wire cable.
Compared with prior art the beneficial effects of the present invention are:
1. tandem rope of the present invention drives decoupling mechanism and solution in the passive de-coupling mechanism of System for Joint Motion of Manipulator
The design that can simplify joint on the base is arranged in the separation of coupling joint, decoupling mechanism；
Turn 2. tandem rope of the present invention drives the wire rope gearing in the passive de-coupling mechanism of System for Joint Motion of Manipulator
To being realized by pulley, smaller to the abrasion of wirerope, wirerope is not easy to break.
Detailed description of the invention
The present invention will be further described below with reference to the drawings:
Fig. 1 is that the axis for the passive de-coupling mechanism structure composition that tandem rope of the present invention drives System for Joint Motion of Manipulator is surveyed
Projection view；
Fig. 2 is the main view for the passive de-coupling mechanism structure composition that tandem rope of the present invention drives System for Joint Motion of Manipulator
Figure；
Fig. 3 is that tandem rope of the present invention drives pedestal employed in the passive de-coupling mechanism of System for Joint Motion of Manipulator
The axonometric projection view of system structure composition；
Fig. 4 is that tandem rope of the present invention drives decoupling employed in the passive de-coupling mechanism of System for Joint Motion of Manipulator
The axonometric projection view of modular structure composition；
Fig. 5 is that tandem rope of the present invention drives employed in the passive de-coupling mechanism of System for Joint Motion of Manipulator No. 1
The axonometric projection view of hand a quarter section view；
Fig. 6 is that tandem rope of the present invention drives employed in the passive de-coupling mechanism of System for Joint Motion of Manipulator No. 1
Drive the walks wire shaped figure of rope；
Fig. 7 is that tandem rope of the present invention drives employed in the passive de-coupling mechanism of System for Joint Motion of Manipulator No. 2
Drive the walks wire shaped figure of rope；
Fig. 8 is that tandem rope of the present invention drives employed in the passive de-coupling mechanism of System for Joint Motion of Manipulator No. 1
The walks wire shaped figure that decoupling rope, No. 2 decouplings are restricted；
Fig. 9 is passive de-coupling mechanism original state lower No. 1 that tandem rope of the present invention drives System for Joint Motion of Manipulator
Decoupling rope, No. 2 main views for decoupling rope, decoupling module and No. 1 driving wheel；
Figure 10 is that tandem rope of the present invention drives employed in the passive de-coupling mechanism of System for Joint Motion of Manipulator No. 1
Driving wheel turns over No. 1 decoupling rope, No. 2 main views for decoupling rope and decoupling module behind the angle θ clockwise；
Figure 11 is that tandem rope of the present invention drives No. 2 drivings after the passive de-coupling mechanism simplifying of System for Joint Motion of Manipulator
Wheel, No. 2 driving ropes, decoupling module, freewheel and No. 2 driving wheel original states main view；
Figure 12 is that the passive de-coupling mechanism of tandem rope drive System for Joint Motion of Manipulator of the present invention is suitable in No. 1 driving wheel
Hour hands turn over the main view of No. 2 driving wheels behind the angle θ, No. 2 driving ropes, decoupling module, freewheel and No. 2 driving wheels；
In figure: 1. base systems, No. 2.1 guide wheel groups, No. 3.1 decoupling wheel groups, 4. decoupling modules, No. 5.1 decoupling ropes, 6.
Freewheel, 7.1 trumpeter's arm systems, 8.2 trumpeter's arms, No. 9.2 driving wheels, No. 10.1 driving wheels, No. 11.2 decoupling ropes, No. 12.2 solutions
Coupling wheel group, No. 13.2 driving ropes, No. 14.2 driving wheels, No. 15.1 driving ropes, No. 16.1 driving wheels, No. 17.1 pins, No. 18.3
Pin, No. 19.4 pins, No. 20.2 pins, 21. circular shafts, No. 22.1 pulleys, 23.M3 screw, 24. guide rails, 25. sliding blocks, 26.1
Number round end flat key, No. 27.1 arm boards, No. 28.2 round end flat keys, No. 29.7 pins, 30. small-sized pulleys, 31. base plates, 32.6
Number pin, No. 33.2 guide wheel groups, No. 34.5 directive wheels, No. 35.5 pins, 36. rope fixing points, No. 37.3 guide wheel groups,
38.4 number guide wheel group.
Specific embodiment
The present invention is explained in detail with reference to the accompanying drawing:
Refering to fig. 1, the passive de-coupling mechanism that tandem rope of the present invention drives System for Joint Motion of Manipulator includes pedestal system
System 1,4, No. 15,1 trumpeter's arm systems 7 of decouplings rope of decoupling module, 2 trumpeter's arm, 8, No. 2 decouplings 11, No. 2 drivings of rope are restricted 13 and No. 1 and are driven
Running rope 15；
Refering to Fig. 2 and Fig. 3, the base systems 1 include No. 1 driving wheel 14,1 of guide wheel group 2,2 driving wheel 16,
Identical 18, No. 2 pins 20 of No. 3 pins of 17,2 structures of No. 1 pin, identical No. 6 pins 32,2 of 31,2 structures of base plate
Number 33, No. 3 guide wheel group 37 and No. 4 guide wheel groups 38 of guide wheel group.
No. 1 guide wheel group 2 is that two small-sized pulleys 30 form, two small-sized 30 vertically stacked of pulley installations, in
Heart line is overlapped.Small-sized pulley 30 is divided into inner ring and outer ring, and it is circular arc that the middle of the external cylindrical surface of outer ring, which is machined with cross section,
The toroidal cavity of shape, is equipped with ball between inner ring and outer ring, allow inner ring smooth rotation opposite with outer ring.
No. 2 driving wheel 14 and No. 1 driving wheels 16 are completely identical in structure disc structure parts, at the center of disk
It is provided with through-hole, it is that arc-shaped annular is recessed that the periphery middle of No. 2 driving wheel 14 and No. 1 driving wheels 16, which is provided with cross section,
Slot.
Pin 18 and No. 6 pin 32 of pin 20,3 of No. 1 pin 17,2 is all that model GB119 material is
304 stainless steel cylindrical pins, their length are each different.
Refering to Fig. 3, the base plate 31 is the plate structure part of strip, and base plate 31 is by left semicircle plate, middle rectangle
Plate and right semi-circle board group are at left semicircle plate, middle rectangular slab are connected with right semi-circle plate, and the right end of base plate 31 also machined one
It is a to recessed arc-shaped heavy platform；The front and back both sides of arc-shaped heavy platform circular arc wall surface outstanding is used for the limit to 1 trumpeter's arm system 7
Position, to avoid 1 trumpeter's arm system 1 beyond through-hole is provided in motion range arc heavy platform, through hole center and semi arch center are heavy
It closes；The front and back both sides in the middle section of base plate 31 are machined with the identical rectangular boss of structure, the right side setting adjacent with rectangular boss
There is a rectangular recess, perforation before and after rectangular recess, the center line on the slot bottom of rectangular recess along longitudinal direction is provided with 3 threaded holes, and 2
The identical rectangular boss of structure is used to install decoupling module 4 for fixing 5 and No. 2 decouplings ropes 11 of No. 1 decoupling rope, rectangular recess,
Line of symmetry is provided with No. 1 driving wheel 10 of installation 17, No. 2 pins 20 of No. 1 pin and installation from left to right along longitudinal direction on base plate 31
Left smooth through-hole, middle smooth through-hole and right smooth through-hole, wherein right smooth through-hole is arranged in arc-shaped heavy platform.
The structure of No. 2 guide wheel groups 33, No. 3 guide wheel group 37 and No. 4 guide wheel groups 38 and No. 1 guide wheel group 2
It forms identical.
Refering to Fig. 2 and Fig. 3, the lower end of No. 1 pin 17 is inserted into the light through-hole on base plate 31, the lower end of No. 1 pin 17
It is interference fit between the light through-hole on base plate 31, on the base plate 31 on the lower end of No. 2 pins 20 and No. 1 17 right side of pin
Light through-hole be same interference fit type, the longitudinally asymmetric line of the center of No. 1 pin 17 and No. 2 pin 20 in base plate 31
On；It is interference fit connection, the upper end of No. 2 pins 20 and No. 2 driving wheels between the upper end and No. 1 driving wheel 16 of No. 1 pin 17
It is interference fit connection between 14, No. 1 driving wheel 16 is higher than No. 2 driving wheels 14.
Referring to Fig.2, identical No. 3 pins 18 of 2 structures by it is longitudinally asymmetric it is symmetrical in a manner of install, 2 structures are identical
No. 6 pins 32 also by it is longitudinally asymmetric it is symmetrical in a manner of install；And the identical No. 3 pins 18 and 2 structure phase of 2 structures
With No. 6 pins 32 by it is lateral symmetry it is symmetrical in a manner of install, transverse symmetry line is exactly the rectangular recess on base plate 31
The longitudinally asymmetric center line of slot bottom, identical No. 6 pins 32 of identical No. 3 pin 18 and 2 structures of 2 structures are symmetrically installed
In the two sides of rectangular recess；The upper end interference fit of No. 3 pins 18 in front of longitudinally asymmetric line is mounted with No. 1 guide wheel group 2, after
The upper end interference fit of No. 3 pins 18 of side is mounted with No. 3 guide wheel groups 37；No. 6 pins 32 at longitudinally asymmetric line rear it is upper
End is mounted with No. 2 guide wheel groups 33, and the upper end of No. 6 pins 32 in front of longitudinally asymmetric line is mounted with No. 4 guide wheel groups 38.
Refering to Fig. 4, the decoupling module 4 includes 3, No. 2 decoupling pin 19,5 of wheel group 12,4 pins of No. 1 decoupling wheel group
Nail 35, M3 screw 23, guide rail 24 and sliding block 25.
No. 1 decoupling wheel group 3 is hung down comprising identical No. 1 pulley 22 of 22,2 structures of identical No. 1 pulley of 2 structures
It directly installs stackedly, the rotation conllinear of identical No. 1 pulley 22 of 2 structures；No. 1 pulley 22 is also by inner ring and outer ring structure
At being equipped with ball between inner ring and outer ring, allow inner ring smooth rotation opposite with outer ring, in the external cylindrical surface of outer ring
Between be machined with cross section be arc-shaped toroidal cavity.
The structure composition of No. 2 decoupling wheel groups 12 is identical with No. 1 decoupling structure composition of wheel group 3.
No. 4 pin 19 and No. 5 pins 35 are stainless steel cylindrical pins.
The guide rail 24 is to use material for the string configuration part that the cross section of No. 45 steel is rectangle, is set on guide rail 24
It is equipped with sunk screw through-hole, two sides are provided with v-depression.
The sliding block 25 is cross section structural member in T shape, is provided on the lower end of sliding block 25 and cooperates with guide rail 24
Rectangular channel, there are also the V-arrangement fin cooperated with the v-depression of guide rail 24 on two walls of rectangular channel, the two sides of 25 upper end of sliding block are set
It is identical for installing the blind round hole of No. 1 decoupling wheel group 3 and No. 2 decoupling wheel group 12 to be equipped with structure.
In blind hole on the right side of the upper end of the lower end insertion sliding block 25 of No. 5 pins 35, on the lower end of No. 5 pins 35 and sliding block 25
The blind hole at end is interference fitted installation, and the mounting means of No. 4 pins 19 is identical as the mounting means of No. 5 pins 35, is mounted on sliding block
In blind hole on the left of 25 upper end.The line of centres and the rectangular recess slot bottom on base plate 31 of No. 5 pin 35 and No. 4 pins 19
Longitudinal centre line be overlapped.The upper end interference of upper end interference fit No. 1 decoupling wheel 3, No. 4 pin 19 of group of installation of No. 5 pins 35
It has been coupled No. 2 decoupling wheel groups 12.Sliding block 25 is mounted on guide rail 24 by the groove of its lower end, and sliding block 25 can be in guide rail
It is slided on 24.Guide rail 24 is fixed on the rectangular recess slot bottom on base plate 31 by M3 screw 23.
Refering to Fig. 2 and Fig. 5,1 trumpeter's arm system 7 includes the driving wheel 9,1 of freewheel 6,2 driving wheel 10, circle
Identical No. 7 pins 29 and 2 structure of the structure of round end flat key 28,2 of arm board 27,2 of round end flat key 26,1 of axis 21,1
Identical No. 5 directive wheels 34.
The freewheel 6 is the pulley with No. 1 22 same model of pulley of No. 1 decoupling wheel group 3 in decoupling module 4,
Its outer diameter is identical as the big axis outer diameter of No. 1 driving wheel 10, the small axis outer diameter phase of the internal orifice dimension of freewheel 6 and No. 1 driving wheel 10
Together.
No. 2 driving wheels 9 are disc-like structural member, are provided with central through hole, center at the center of No. 2 driving wheels 9
Keyway is provided on the hole wall of through-hole, it is arc-shaped annular that the middle on No. 29 periphery cylindrical surfaces of driving wheel, which is provided with cross section,
Groove.
No. 1 driving wheel 10 is a ladder shaft type structural member, and one end is small shaft part, and the other end is big shaft part, small
The middle of shaft part is axially disposed keyway；It is identical transversal that 2 structures are equably provided on big shaft part periphery cylindrical surface
Face is arc-shaped annular groove.
The circular shaft 21 is the straight-bar class formation part of iso-cross-section, and 21 one end of circular shaft is provided with the keyway of installation key, is pacified
Key connection is realized in the shaft end and No. 2 driving wheels 9,2 trumpeter's arms 8 for filling the circular shaft 21 of key.
Refering to Fig. 5, No. 1 arm board 27 is that the centre that both ends are semi-circular plate is the strip plate of rectangle, 1 trumpeter's arm
The right and left of plate 27 is provided with left through-hole and right through-hole, and left through-hole and the right through-hole centre of gyration semi-circular plate with both ends respectively
Center be overlapped, be provided with keyway on the hole wall of the left through-hole of No. 1 arm board 27.The upper surface of No. 1 arm board 27 be provided with 2 it is blind
Hole, 2 blind holes are arranged symmetrically with the longitudinally asymmetric line of No. 1 arm board 27, and 2 blind holes are between left through-hole and right through-hole.
No. 7 pins 29 are the stainless steel cylindrical pins that model GB119 material is 304.
No. 5 directive wheels 34 are identical with small-sized 30 structure of pulley.
Refering to Fig. 5, freewheel 6 is sleeved on the small shaft part being equipped with above No. 1 round end flat key 26 of No. 1 driving wheel 10,
Using interference fit installation between the small shaft part of freewheel 6 and the part, No. 1 arm board 27 is sleeved on the installation of No. 1 driving wheel 10
On the small shaft part for having No. 1 round end flat key 26, it is equipped between the small shaft part of No. 1 round end flat key 26 and No. 1 arm board 27 as gap
It is coupled；The lower end of identical No. 7 pins 29 of 2 structures is separately mounted in two blind holes on No. 1 arm board 27, and 2
The upper end of identical No. 7 pins 29 of structure is mounted with No. 5 directive wheels 34 with being respectively interference fitted.The lower end of circular shaft 21 and 1
The right via clearance of number arm board 27 is coupled, and circular shaft 21 can relatively rotate with No. 1 arm board 27, and No. 2 round ends are flat
Key 28 is mounted in the keyway of the upper shaft of circular shaft 21.
Refering to fig. 1, it is the strip plate of rectangular slab, left semicircle that 2 trumpeter's arms 8, which are the centres that both ends are semicircular plate,
Shape plate, rectangular slab are connected with right semicircular plate, and the left end of 2 trumpeter's arms 8 is provided with through-hole, the center line and left semicircle of through-hole
The center line of shape plate coincides.
Refering to Fig. 6 to Fig. 8, No. 1 decoupling restricts the drivings rope 15 and 2 of 5, No. 2 decouplings ropes 11,1 drivings rope 13 all
It is the stainless steel wire rope that diameter is 1.2mm, wherein No. 1 driving is restricted, 15 and No. 2 driving ropes 13 are end to end closing wirerope
Ring, length are different；5, No. 2 decouplings 11 head and the tail of rope of No. 1 decoupling rope are not connected to, and the length of wirerope is identical.
Refering to fig. 1,1 trumpeter's arm system 7 is mounted on base in base systems 1 by the lower end of small shaft part in No. 1 driving wheel 10
On the right smooth through-hole of the arc-shaped heavy platform of 31 right end of seat board, between being between the lower end of small shaft part and the right smooth through-hole of arc-shaped heavy platform
Gap is coupled, and 1 trumpeter's arm system 7 can relatively rotate with base systems 1 around the small shaft part of No. 1 driving wheel 10.No. 2
The left end through-hole of arm 8 is machined with keyway, and 2 trumpeter's arms 8 are mounted on using No. 2 28 clearance fits of round end flat key and are provided with keyway
On circular shaft 21.
Refering to fig. 1, No. 1 decoupling rope 5 bypasses the inboard of the small-sized pulley of No. 3 37 upper ends of guide wheel group, No. 1 decoupling wheel group 3
Under the inboard and No. 1 big shaft part of driving wheel 10 of the small-sized pulley of the front side of No. 1 pulley 22 of upper end, No. 4 38 upper ends of guide wheel group
The cross section in face is the outside of the annular groove of circular arc, and the starting endpoint of No. 1 decoupling rope 5 is fixed on 10 right side of No. 1 driving wheel
On rope fixing points 36, end is then fixed on one side boss in 31 middle section of base plate.
No. 2 decoupling rope 11 around No. 12 upper end of guide wheel group small-sized pulley inboard, No. 2 decoupling 12 upper end of wheel group 1
The rear side of number pulley 22, the inboard of small-sized pulley of No. 2 33 upper ends of guide wheel group and transversal below No. 1 big shaft part of driving wheel 10
Face is the rear side of arc-shaped annular groove, its starting endpoint is also secured at the rope fixing points 36 on 10 right side of No. 1 driving wheel
On, end is fixed on the another side boss in 31 middle section of base plate.
Refering to Fig. 5, No. 1 driving rope 15 is sleeved on the cross section above the big shaft part of No. 1 driving wheel 16 and No. 1 driving wheel 10
For arc-shaped annular groove, No. 1 driving rope 15 is closed steel wire cable.
Refering to fig. 1, No. 2 driving ropes 13 successively bypass front side, No. 3 37 lower ends of guide wheel group of No. 2 driving wheels 14 counterclockwise
The inboard of small-sized pulley, the front side of No. 1 pulley 22 of No. 1 decoupling 3 lower end of wheel group, No. 4 38 lower ends of guide wheel group small-sized cunning
The inboard of wheel, the front side of freewheel 6, the inboard of No. 3 directive wheels 34 below longitudinally asymmetric line, the front side of No. 2 driving wheels 9, No. 2
The inboards of identical No. 5 directive wheels 34 of the 2nd structure above the rear side of driving wheel 9, longitudinally asymmetric line, freewheel 6 rear side,
The inboard of the small-sized pulley of No. 2 33 lower ends of guide wheel group, No. 2 decoupling 12 lower end of wheel group No. 1 pulley 22 rear side, No. 1 guiding
The inboard of the small-sized pulley of 2 lower end of wheel group and the rear side of No. 2 driving wheels 14.
Tandem rope of the present invention drives the working principle of the passive de-coupling mechanism of System for Joint Motion of Manipulator:
Refering to Fig. 9 and 10, when No. 1 driving wheel 10 turns over the angle θ clockwise, No. 2 decouplings 11 10 coilings on No. 1 driving wheel of rope
Length increases D4〃 θ/2,10 on No. 1 driving wheel of disengaging of No. 1 decoupling rope 5 on winding length reduce D4〃θ/2.Due to No. 2 decouplings
The contraction of rope 11 drives the sliding block 25 in decoupling module 4 is whole to move down, moving displacement D4〃θ/4.No. 1 decoupling wheel 5 with
Moving down for sliding block 25 compensate for 5 No. 1 actives of disengaging of No. 1 decoupling rope so that winding length of the rope at movable pulley increases
The rope length of wheel 10.
Refering to fig. 11 and 12, when No. 1 driving wheel 10 turns over the angle θ clockwise, No. 2 drivings ropes 13 can also rotate clockwise D4〃
θ/2.Under the action of 5 and No. 2 decoupling ropes 11 are restricted in No. 1 decoupling, the sliding block 25 in decoupling module 4 is moved down, so that No. 2 drivings
The winding length that the lower half portion of rope 13 decouples at wheel group 3 at No. 1 increases, and No. 2 driving ropes 13 rotate counterclockwise D again4〃θ/
2, it rotates clockwise and cancels out each other with the displacement turned counterclockwise, so that there is no relative to No. 1 arm board 27 for No. 2 driving wheels 9
Rotation, which forms the mobile decouplings of 1 trumpeter's arm system 7.
In conjunction with attached drawing 11 and 12, mathematic(al) argument is carried out to the long change of rope of the top half rope of No. 2 driving ropes 13, first
The rope length of the top half (the overstriking line in Figure 11 and Figure 12) of driving rope 2 when beginning state is set as L, No. 1 10 up time of driving wheel
Needle rotates the angle θ, hereafter, as added the rope length of thick line portion to be set as L in Figure 121。
Wherein:
Have again:
Then have:
Thus after the rotation of provable No. 1 driving wheel 10, occur that No. 2 driving wheels 9 relative to No. 1 arm board 27
Rotation.
Claims (10)
1. the passive de-coupling mechanism that a kind of tandem rope drives System for Joint Motion of Manipulator, which is characterized in that the tandem rope drives
The passive de-coupling mechanism of System for Joint Motion of Manipulator includes base systems (1), decoupling module (4), No. 1 decoupling rope (5), 1 trumpeter's arm
System (7), 2 trumpeter's arms (8), No. 2 decoupling ropes (11), No. 2 driving ropes (13) restrict (15) with No. 1 driving；
The base systems (1) include No. 2 driving wheels (14), No. 1 driving wheel (16), base plate (31)；
1 trumpeter's arm system (7) includes No. 1 driving wheel (10), circular shaft (21), No. 1 arm board (27) and No. 2 round end flat keys
(28)；
The decoupling module (4) is mounted in the rectangular recess on base plate (31) by wherein guide rail (24), 1 trumpeter's arm system
System (7) is mounted in the right smooth through-hole on base plate (31) by the lower end of the small shaft part in No. 1 driving wheel (10), 2 trumpeter's arms
(8) right end of No. 1 arm board (27) is mounted on using No. 2 round end flat keys (28) and circular shaft (21)；No. 1 driving rope (15) is sleeved on
It is mounted in the annular groove of the top of No. 1 driving wheel (16) on base plate (31) and No. 1 driving wheel (10), No. 1 decoupling rope
(5) base systems (1), decoupling module (4) and 1 trumpeter's arm system (7) are together in series, No. 2 decoupling ropes (11) are base systems
(1), decoupling module (4) is together in series with 1 trumpeter's arm system (7), and No. 2 driving ropes (13) are base systems (1), decoupling module
(4) it is together in series with 1 trumpeter's arm system (7).
2. the passive de-coupling mechanism that tandem rope described in accordance with the claim 1 drives System for Joint Motion of Manipulator, which is characterized in that institute
The base systems (1) stated further include that No. 1 guide wheel group (2), No. 1 pin (17), No. 2 pins (20), 2 structures are No. 3 identical
Identical No. 6 pins (32) of pin (18), 2 structures, No. 2 guide wheel groups (33), No. 3 guide wheel groups (37) and No. 4 directive wheels
Group (38)；
In left smooth through-hole in lower end insertion base plate (31) of No. 1 pin (17), the lower end of No. 1 pin (17) and base
It is interference fit between left smooth through-hole on seat board (31), the middle light in lower end insertion base plate (31) of No. 2 pins (20) is logical
Kong Zhong is equally interference fit between the two；No. 1 driving wheel (16) is mounted on the upper end of No. 1 pin (17), is between the two mistake
It is full of cooperation, No. 2 driving wheels (14) are mounted on the upper end of No. 2 pins (20), are between the two interference fit, No. 1 driving wheel (16)
Higher than No. 2 driving wheels (14)；
Identical No. 3 pins (18) of 2 structures are symmetrically mounted on base plate (31) with longitudinally asymmetric line, and 2 structures are identical
No. 6 pins (32) be also symmetrically mounted on base plate (31) with longitudinally asymmetric line；And identical No. 3 pins of 2 structures
(18) No. 6 pins (32) identical with 2 structures are with the longitudinally asymmetric center line of the slot bottom of the rectangular recess on base plate (31)
It is symmetrically mounted on base plate (31), identical No. 3 pins (18) of 2 structures No. 6 pins (32) identical with 2 structures are right
It is mounted on the two sides of rectangular recess with claiming；The upper end interference fit of No. 3 pins (18) at longitudinally asymmetric line rear is mounted with that No. 1 is led
To wheel group (2), the upper end interference fit of No. 3 pins (18) at rear is mounted with No. 3 guide wheel groups (37)；Longitudinally asymmetric line rear
The upper ends of No. 6 pins (32) be mounted with No. 2 guide wheel groups (33), the upper end peace of No. 6 pins (32) in front of longitudinally asymmetric line
No. 4 guide wheel groups (38) are filled.
3. tandem rope according to claim 1 or 2 drives the passive de-coupling mechanism of System for Joint Motion of Manipulator, feature exists
In the base plate (31) is the plate structure part of strip, and base plate (31) is by left semicircle plate, middle rectangular slab and right semi-circle
Board group is at left semicircle plate, middle rectangular slab are connected with right semi-circle plate, and the right end of base plate (31) also sets up one to recessed
Arc-shaped heavy platform；The front and back both sides circular arc wall outstanding of arc-shaped heavy platform is limited in face of 1 trumpeter's arm system (7), arc-shaped heavy platform
On be provided with through-hole, through hole center is overlapped with semi arch center；The front and back both sides in the middle section of base plate (31) are provided with structure phase
Same rectangular boss, the right side adjacent with rectangular boss is provided with the rectangular recess for installing decoupling module (4), rectangular recess
Front and back penetrates through, and the center line on the slot bottom of rectangular recess along longitudinal direction is provided with 3 threaded holes, the identical rectangular boss of 2 structures
For fixing one end of No. 1 decoupling rope (5) and No. 2 decoupling ropes (11), line of symmetry is set from left to right along longitudinal direction on base plate (31)
It is equipped with No. 1 pin (17) of installation, left smooth through-hole, middle smooth through-hole and the right light of No. 1 driving wheel (10) of No. 2 pins (20) and installation lead to
Hole, wherein right smooth through-hole is the through-hole being arranged in arc-shaped heavy platform.
4. the passive de-coupling mechanism that tandem rope described in accordance with the claim 1 drives System for Joint Motion of Manipulator, which is characterized in that institute
The decoupling module (4) stated further include No. 1 decoupling wheel group (3), No. 2 decoupling wheel groups (12), No. 4 pins (19), No. 5 pins (35) with
Sliding block (25)；
In the blind hole of lower end insertion sliding block (25) front end of No. 5 pins (35), the lower end of No. 5 pins (35) and sliding block
(25) using interference fit connection between the blind hole of front end, the lower end of No. 4 pins (19) is inserted into the blind hole of sliding block (25) rear end,
No. 1 decoupling wheel group (3) is mounted on the upper end of No. 5 pins (35) as interference fit, and No. 2 decoupling wheel groups (12) are mounted on No. 4 pins
(19) upper end is interference fit, and sliding block (25) is mounted on guide rail (24) by the groove of its lower end, sliding block (25) and guide rail
(24) to be slidably connected between, guide rail (24) is fixed on the slot bottom of the rectangular recess on base plate (31) using M3 screw (23)
On.
5. the passive de-coupling mechanism that tandem rope described in accordance with the claim 1 drives System for Joint Motion of Manipulator, which is characterized in that institute
The 1 trumpeter's arm system (7) stated includes that freewheel (6), No. 2 driving wheels (9), No. 1 round end flat key (26), 2 structures are No. 7 identical
Pin (29) No. 5 directive wheels (34) identical with 2 structures；
The freewheel (6) is sleeved on the small shaft part being equipped with above No. 1 round end flat key (26) of No. 1 driving wheel (10),
Using interference fit between small shaft part above freewheel (6) and No. 1 round end flat key (26), No. 1 arm board (27) is sleeved on No. 1
Being equipped on the small shaft part of No. 1 round end flat key (26) for driving wheel (10), is equipped with the small shaft part and 1 of No. 1 round end flat key (26)
It is clearance fit between number arm board (27)；The lower end of identical No. 7 pins (29) of 2 structures is separately mounted to No. 1 arm board
(27) in two blind holes on, the upper end of identical No. 7 pins (29) of 2 structures is mounted with No. 5 guiding with being respectively interference fitted
It takes turns (34), the lower end of circular shaft (21) and the right via clearance of No. 1 arm board (27) cooperate, circular shaft (21) and No. 1 arm board (27)
Between for rotation connection, in the keyway for the upper shaft that No. 2 round end flat keys (28) are mounted on circular shaft (21), No. 2 driving wheels (9) suits
On the circular shaft (21) for being equipped with No. 2 round end flat keys (28).
6. tandem rope drives the passive de-coupling mechanism of System for Joint Motion of Manipulator according to claim 5, which is characterized in that institute
No. 1 arm board (27) stated is that the centre that both ends are semi-circular plate is the strip plate of rectangle, the right and left of No. 1 arm board (27)
It is provided with left through-hole and right through-hole, and center of the left through-hole with the right through-hole centre of gyration respectively with the semi-circular plate at both ends is overlapped, No. 1
The keyway of No. 1 round end flat key (26) of installation is provided on the hole wall of the left through-hole of arm board (27)；It is arranged on No. 1 arm board (27)
There are 2 structures identical for installing the blind hole of identical No. 3 directive wheels (34) of 2 structures, 2 blind holes are with No. 1 arm board
(27) longitudinally asymmetric line is arranged symmetrically, and the identical blind hole of 2 structures is between left through-hole and right through-hole.
7. the passive de-coupling mechanism that tandem rope described in accordance with the claim 1 drives System for Joint Motion of Manipulator, which is characterized in that institute
The 2 trumpeter's arms (8) stated are that the centre that both ends are semicircular plate is the strip plate of rectangular slab, left semicircle shape plate, rectangular slab and the right side
Semicircular plate is connected, and the left end of 2 trumpeter's arms (8) is provided with left through-hole, in the center line and left semicircle shape plate of left through-hole
Heart line coincides, and the keyway of installation key is provided on the hole wall of left through-hole.
8. the passive de-coupling mechanism that tandem rope described in accordance with the claim 1 drives System for Joint Motion of Manipulator, which is characterized in that institute
No. 1 decoupling rope (5) stated, which is together in series base systems (1), decoupling module (4) with 1 trumpeter's arm system (7), to be referred to:
No. 1 decoupling rope (5) successively bypasses the inboard of the small-sized pulley of No. 3 guide wheel group (37) upper ends, No. 1 decoupling wheel group
(3) inboard of the small-sized pulley of the front side of No. 1 pulley (22) of upper end, No. 4 guide wheel group (38) upper ends and No. 1 driving wheel (10)
Cross section below big shaft part is the front side of the annular groove of circular arc, and the starting endpoint of No. 1 decoupling rope (5) is fixed on No. 1 active
It takes turns on the rope fixing points (36) on the right side of (10), end is then fixed on the front boss in base plate (31) middle section.
9. the passive de-coupling mechanism that tandem rope described in accordance with the claim 1 drives System for Joint Motion of Manipulator, which is characterized in that institute
No. 2 decouplings rope (11) stated, which is together in series base systems (1), decoupling module (4) with 1 trumpeter's arm system (7), to be referred to:
No. 2 decoupling ropes (11) successively bypass the inboard of the small-sized pulley of No. 1 guide wheel group (2) upper end, No. 2 decoupling wheel groups
(12) rear side of No. 1 pulley (22) of upper end, No. 2 guide wheel group (33) upper ends small-sized pulley inboard and No. 1 driving wheel
(10) cross section below big shaft part is the rear side of arc-shaped annular groove, and the starting endpoint of No. 2 decoupling ropes (11) is also fixed
On the rope fixing points (36) on the right side of No. 1 driving wheel (10), end is fixed on the back boss in base plate (31) middle section.
10. the passive de-coupling mechanism that tandem rope described in accordance with the claim 1 drives System for Joint Motion of Manipulator, which is characterized in that
No. 2 drivings rope (13), which is together in series base systems (1), decoupling module (4) with 1 trumpeter's arm system (7), to be referred to:
No. 2 driving ropes (13) successively bypass front side, No. 3 guide wheel group (37) lower ends of No. 2 driving wheels (14) counterclockwise
The inboard of small-sized pulley, the front side of No. 1 pulley (22) of No. 1 decoupling wheel group (3) lower end, No. 4 guide wheel group (38) lower ends
The inboard of small-sized pulley, the front side of freewheel (6), the inboard of No. 5 directive wheels (34) below longitudinally asymmetric line, No. 2 driving wheels
(9) front side, the rear side of No. 2 driving wheels (9), identical No. 5 directive wheels (34) of the 2nd structure above longitudinally asymmetric line are inner
Side, the rear side of freewheel (6), the inboard of the small-sized pulley of No. 2 guide wheel group (33) lower ends, No. 2 decoupling wheel group (12) lower ends 1
The rear side of number pulley (22), No. 1 guide wheel group (2) lower end small-sized pulley inboard and the rear side of No. 2 driving wheels (14), No. 2
Driving rope (13) is closed steel wire cable.
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| CN110154045A (en) * | 2019-04-29 | 2019-08-23 | 合肥工业大学 | A kind of Wire driven robot series connection four-degree-of-freedom spray coating mechanical arm |
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| CN112440272A (en) * | 2020-11-11 | 2021-03-05 | 浙江理工大学 | Rope-driven mechanical arm capable of realizing motion decoupling |
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