CN108942900B - Passive decoupling mechanism for joint motion of serial rope-driven manipulator - Google Patents
Passive decoupling mechanism for joint motion of serial rope-driven manipulator Download PDFInfo
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- CN108942900B CN108942900B CN201811186672.0A CN201811186672A CN108942900B CN 108942900 B CN108942900 B CN 108942900B CN 201811186672 A CN201811186672 A CN 201811186672A CN 108942900 B CN108942900 B CN 108942900B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 230000008878 coupling Effects 0.000 abstract description 4
- 238000010168 coupling process Methods 0.000 abstract description 4
- 238000005859 coupling reaction Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 5
- 229910001220 stainless steel Inorganic materials 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 239000010935 stainless steel Substances 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
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- 241001391944 Commicarpus scandens Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—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 a passive decoupling mechanism for joint motion of a serial rope-driven manipulator, which overcomes the problem of joint motion coupling of the serial rope-driven manipulator, and comprises a base system, a decoupling module, a No. 1 decoupling rope, a No. 1 arm system, a No. 2 arm, a No. 2 decoupling rope, a No. 2 driving rope and a No. 1 driving rope; the base system comprises a No. 2 driving wheel, a No. 1 driving wheel and a base plate; the arm system 1 comprises a driving wheel 1, a driving wheel 2, a circular shaft and an arm plate 1; the decoupling module is arranged in a rectangular groove of the base plate through a guide rail of the decoupling module, the No. 1 arm system is arranged in a right light through hole on the base plate through the lower end of a small shaft section of the No. 1 driving wheel, and the No. 2 arm is arranged at the right end of the No. 1 arm plate through a key and a round shaft; the No. 1 driving rope is sleeved in a groove above the No. 1 driving wheel and the No. 1 driving wheel on the base plate, and the No. 1 decoupling rope, the No. 2 decoupling rope and the No. 2 driving rope are respectively connected with the base system, the decoupling module and the No. 1 arm system in series.
Description
Technical Field
The invention relates to a mechanism for passive decoupling motion, in particular to a mechanism for passive decoupling of joint motion of a serial rope-driven manipulator.
Background
From the first manipulator developed by united states control company in 1958, serial manipulators have been developed for 60 years, and serial manipulators have been developed in two directions: the miniaturization and the enlargement are performed. In the development of large-scale, the manipulator is pursued to have higher load capacity; in the process of miniaturization, the manipulator pursues a finer body shape so as to work in a narrow working space. Many researchers have proposed a method of reducing the body size of a robot using a rope, gear, link, or the like as a power transmission medium. The motion joint of the serial manipulator can be greatly simplified and reduced by using the rope as a power transmission medium. In addition, the arm of the manipulator can be made to be more slender, the influence of the arm outline on the motion of the manipulator is smaller, and the motion space is wider.
However, in a serial-type rope-driven manipulator, the movement of the front-end joint causes a change in the driving rope of the rear-end joint, which in turn causes an accompanying rotation of the joint, which is a problem of coupling of the joint movement. There are two ways to understand the coupling problem: the method adopts a motion control method to perform active decoupling, and designs a decoupling structure and performs passive decoupling. The surgical manipulator designed in the Las' university Lincoln division design utilizes the motion principle of a planetary gear to realize decoupling by combining a rope and a gear in a driving mode. The decoupling module designed by Nanjing aviation aerospace university is decoupled by using a moving method of a movable pulley block. However, the disadvantage is that each motion joint needs to be provided with a decoupling module, and the joint has a large size and cannot be applied to a surgical manipulator. Therefore, a new decoupling mechanism is needed to be designed, so that the decoupling module can be separated from the joint, and the joint is simplified.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art that the joint motion coupling of the serial rope-driven manipulator is solved, and provides a passive decoupling mechanism for the joint motion of the serial rope-driven manipulator.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme: the passive decoupling mechanism for the joint motion of the serial rope-driven manipulator comprises a base system, a decoupling module, a decoupling rope No. 1, a hand arm system No. 1, a hand arm No. 2, a decoupling rope No. 2, a driving rope No. 2 and a driving rope No. 1;
the base system comprises a No. 2 driving wheel, a No. 1 driving wheel and a base plate;
the arm system 1 comprises a driving wheel 1, a round shaft, an arm plate 1 and a round head flat key 2;
the decoupling module is arranged in a rectangular groove on the base plate through a guide rail, a No. 1 arm system is arranged in a right light through hole on the base plate through the lower end of a small shaft section in a No. 1 driving wheel, and a No. 2 arm is arranged at the right end of a No. 1 arm plate by adopting a No. 2 round head flat key and a round shaft; the No. 1 driving rope is sleeved in an annular groove above the No. 1 driving wheel and the No. 1 driving wheel which are arranged on the base plate, the No. 1 decoupling rope connects the base system, the decoupling module and the No. 1 arm system in series, the No. 2 decoupling rope connects the base system, the decoupling module and the No. 1 arm system in series, and the No. 2 driving rope connects the base system, the decoupling module and the No. 1 arm system in series.
The base system in the technical scheme also comprises a guide wheel set No. 1, a pin No. 2, a pin No. 3 with the same structure, a pin No. 6 with the same structure, a guide wheel set No. 2, a guide wheel set No. 3 and a guide wheel set No. 4; the lower end of the No. 1 pin is inserted into the left light through hole on the base plate, the lower end of the No. 1 pin is in interference fit with the left light through hole on the base plate, and the lower end of the No. 2 pin is inserted into the middle light through hole on the base plate, and the lower end of the No. 1 pin and the left light through hole are in interference fit; the driving wheel No. 1 is arranged at the upper end of the pin No. 1, the driving wheel No. 2 is arranged at the upper end of the pin No. 2 in interference fit, and the driving wheel No. 1 is higher than the driving wheel No. 2 in 16;
2 pins 3 with the same structure are symmetrically arranged on the base plate by longitudinal symmetry lines, and 2 pins 6 with the same structure are symmetrically arranged on the base plate by longitudinal symmetry lines; and 2 pins with the same structure 3 and 2 pins with the same structure 6 are symmetrically arranged on the base plate by the longitudinal symmetrical center line of the bottom of the rectangular groove on the base plate, and 2 pins with the same structure 3 and 2 pins with the same structure 6 are symmetrically arranged on two sides of the rectangular groove; the upper end of the No. 3 pin behind the longitudinal symmetry line is provided with a No. 1 guide wheel set in interference fit, and the upper end of the No. 3 pin behind the longitudinal symmetry line is provided with a No. 3 guide wheel set in interference fit; the upper end of the No. 6 pin behind the longitudinal symmetry line is provided with a No. 2 guide wheel set, and the upper end of the No. 6 pin in front of the longitudinal symmetry line is provided with a No. 4 guide wheel set).
According to the technical scheme, the base plate is a strip-shaped plate structural member and consists of a left semicircular plate, a middle rectangular plate and a right semicircular plate, the left semicircular plate, the middle rectangular plate and the right semicircular plate are connected into a whole, and the right end of the base plate is further provided with a downward concave arc sinking table; the arc walls protruding from the front side and the rear side of the arc-shaped sinking platform limit the arm system No. 1, a through hole is arranged on the arc-shaped sinking platform, and the center of the through hole coincides with the center of the semicircle; the base plate is characterized in that rectangular bosses with the same structure are arranged on the front side and the rear side of the middle section of the base plate, rectangular grooves for installing decoupling modules are arranged on the right side adjacent to the rectangular bosses, the rectangular grooves are communicated front and back, 3 threaded holes are formed in the bottoms of the rectangular grooves along the longitudinal center line, 2 rectangular bosses with the same structure are used for fixing one ends of No. 1 decoupling ropes and No. 2 decoupling ropes, and a left light through hole, a middle light through hole and a right light through hole for installing No. 1 pins, no. 2 pins and installing No. 1 driving wheels are formed in the base plate from left to right along the longitudinal symmetry line, wherein the right light through holes are through holes formed in the circular arc-shaped sinking platform.
The decoupling module in the technical scheme also comprises a decoupling wheel set No. 1, a decoupling wheel set No. 2, a pin No. 4, a pin No. 5 and a sliding block; the lower extreme of No. 5 pin insert in the blind hole of slider front end, adopt interference fit to connect between the blind hole of lower extreme and the slider front end of No. 5 pin, the lower extreme of No. 4 pin inserts in the blind hole of slider rear end, no. 1 decoupling zero wheelset is installed and is interference fit in the upper end of No. 5 pin, no. 2 decoupling zero wheelset is installed and is interference fit in the upper end of No. 4 pin, the slider is installed on the guide rail through the recess of its lower extreme, is sliding connection between slider and the guide rail, the guide rail adopts M3 screw to fix on the tank bottom of the rectangle recess on the base plate.
The hand arm system 1 in the technical scheme comprises a free wheel, a driving wheel 2, a round-head flat key 1, a round-head flat key 2,2 pins 7 with the same structure and 2 guide wheels 5 with the same structure; the free wheel is sleeved on a small shaft section of the No. 1 driving wheel, which is provided with a No. 1 round head flat key, interference fit is adopted between the free wheel and the small shaft section of the No. 1 round head flat key, the No. 1 arm plate is sleeved on the small shaft section of the No. 1 driving wheel, which is provided with a No. 1 round head flat key, and clearance fit is adopted between the small shaft section provided with the No. 1 round head flat key and the No. 1 arm plate; the lower extreme of 2 the same pin of structure No. 7 is installed respectively in two blind holes on No. 1 arm board, and No. 5 leading wheels have been installed respectively in interference fit's of the upper end of 2 the same pin of structure No. 7, and the lower extreme of circle axle and the right through-hole clearance fit of No. 1 arm board are connected for rotating between circle axle and the No. 1 arm board, and No. 2 round head parallel key is installed in the keyway of the upper end axle of circle axle, and No. 2 action wheel suit is on the circle axle of installing No. 2 round head parallel key.
According to the technical scheme, the No. 1 arm plate is a rectangular plate with semicircular plates at two ends and a rectangular middle part, a left through hole and a right through hole are formed in the left side and the right side of the No. 1 arm plate, the rotation centers of the left through hole and the right through hole are respectively overlapped with the centers of the semicircular plates at the two ends, and a key slot for installing a No. 1 round head flat key is formed in the hole wall of the left through hole of the No. 1 arm plate; be provided with 2 blind holes that are used for installing 2 structurally identical No. 3 leading wheels on the No. 1 arm board, 2 blind holes are arranged with the longitudinal symmetry line symmetry of No. 1 arm board, and 2 blind holes that are structurally identical are located between left through-hole and the right through-hole.
In the technical scheme, the No. 2 arm is a rectangular plate with two ends being semicircular plates and a rectangular plate in the middle, the left semicircular plate, the rectangular plate and the right semicircular plate are connected into a whole, the left end of the No. 2 arm is provided with a left through hole, the center line of the left through hole coincides with the center line of the left semicircular plate, and a key slot for installing a key is arranged on the hole wall of the left through hole.
The base system, the decoupling module and the arm system 1 are connected in series by the decoupling rope 1 in the technical scheme to be as follows: the decoupling rope 1 sequentially bypasses the inner side of the small pulley at the upper end of the guide wheel set 3, the front side of the small pulley at the upper end of the decoupling wheel set 1, the inner side of the small pulley at the upper end of the guide wheel set 4 and the front side of the annular groove with the circular cross section below the large shaft section of the driving wheel 1, the starting end point of the decoupling rope 1 is fixed on a rope fixed point at the right side of the driving wheel 1, and the tail end of the decoupling rope is fixed on a front boss at the middle section of the base plate;
the base system, the decoupling module and the No. 1 arm system are connected in series by the No. 2 decoupling rope in the technical scheme, which means that: the decoupling ropes 2 are sequentially wound around the inner side of the small pulley at the upper end of the guide wheel set 1, the rear side of the small pulley at the upper end of the decoupling wheel set 2, the inner side of the small pulley at the upper end of the guide wheel set 2 and the rear side of the circular groove with the circular cross section below the large shaft section of the driving wheel 1, the starting end point of the decoupling ropes 2 is also fixed on a rope fixed point on the right side of the driving wheel 1, and the tail end of the decoupling ropes is fixed on a rear boss at the middle section of the base plate.
According to the technical scheme, the base system, the decoupling module and the No. 1 arm system are connected in series by the No. 2 driving rope, namely: the driving rope No. 2 sequentially bypasses the front side of the driving wheel No. 2, the inner side of the small pulley at the lower end of the guide wheel set No. 3, the front side of the small pulley at the lower end of the decoupling wheel set No. 1, the inner side of the small pulley at the lower end of the guide wheel set No. 4, the front side of the free wheel, the inner side of the guide wheel No. 5 below the longitudinal symmetry line, the front side of the driving wheel No. 2, the rear side of the driving wheel No. 2, the inner side of the guide wheel No. 5 with the same structure above the longitudinal symmetry line, the rear side of the free wheel, the inner side of the small pulley at the lower end of the guide wheel set No. 2, the rear side of the small pulley at the lower end of the guide wheel set No. 1 and the rear side of the driving wheel set No. 2, and the driving rope No. 2 are closed steel wire ropes.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the decoupling mechanism in the passive decoupling mechanism for the joint motion of the serial rope-driven manipulator is separated from the decoupling joint, and the decoupling mechanism is arranged on the base, so that the design of the joint can be simplified;
2. the steel wire rope in the passive decoupling mechanism for the joint movement of the serial rope driven manipulator is driven to turn through the pulleys, so that the abrasion to the steel wire rope is smaller, and the steel wire rope is not easy to break.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is an isometric view of a structure of a passive decoupling mechanism for the articulation of a serial rope driven manipulator according to the present invention;
FIG. 2 is a front view of a structure of a passive decoupling mechanism for the articulation of a serial rope driven manipulator according to the present invention;
FIG. 3 is an isometric view of a base system structure employed in the passive decoupling mechanism of the articulating of the tandem-type rope-driven manipulator of the present invention;
fig. 4 is an isometric view of a decoupling module structure used in the passive decoupling mechanism for the articulation of the serial rope driven manipulator according to the present invention;
FIG. 5 is an isometric view in quarter section of a No. 1 arm system employed in the passive decoupling mechanism of articulation of a tandem-type rope driven manipulator in accordance with the present invention;
FIG. 6 is a line graph of a number 1 drive rope employed in a passive decoupling mechanism for articulation of a serial-type rope-driven manipulator according to the present invention;
FIG. 7 is a line graph of a number 2 drive rope employed in a passive decoupling mechanism for articulation of a tandem-type rope-driven manipulator according to the present invention;
FIG. 8 is a line graph of the decoupling ropes No. 1 and No. 2 adopted in the passive decoupling mechanism for the articulation of the serial rope driven manipulator according to the present invention;
fig. 9 is a front view of a decoupling rope No. 1, a decoupling rope No. 2, a decoupling module and a driving wheel No. 1 in an initial state of a passive decoupling mechanism for the joint motion of a serial rope-driven manipulator according to the present invention;
fig. 10 is a front view of a No. 1 decoupling rope and a No. 2 decoupling rope and a decoupling module after a No. 1 driving wheel adopted in a passive decoupling mechanism for the joint motion of a serial rope-driven manipulator in the invention rotates clockwise by an angle θ;
fig. 11 is a front view of initial states of a driving wheel No. 2, a driving rope No. 2, a decoupling module, a free wheel and a driving wheel No. 2 after a passive decoupling mechanism for the joint motion of the serial rope driving manipulator is simplified;
fig. 12 is a front view of a driving wheel No. 2, a driving rope No. 2, a decoupling module, a free wheel and a driving wheel No. 2 after a driving wheel No. 1 rotates clockwise by an angle θ by a passive decoupling mechanism for the joint motion of the serial rope driving manipulator;
in the figure: 1. the base system, no. 2.1 guide pulley set, no. 3.1 decoupling pulley set, no. 4 decoupling module, no. 5.1 decoupling rope, no. 6 freewheel, no. 7.1 arm system, no. 8.2 arm, no. 9.2 drive pulley, no. 10.1 drive pulley, no. 11.2 Jie Ousheng, no. 12.2 decoupling pulley set, no. 13.2 drive rope, no. 14.2 drive pulley, no. 15.1 drive rope, no. 16.1 drive pulley, no. 17.1 pin, no. 18.3 pin, no. 19.4 pin, no. 20.2 pin, no. 21 round shaft, no. 22.1 pulley, no. 23.m3 screw, 24 guide rail, no. 25 slider, no. 26.1 round head flat key, no. 27.1 arm plate, no. 28.2 round head flat key, no. 29.7 pin, no. 30 small pulley, no. 31, no. base plate, no. 32.6 pin, no. 33.2 guide pulley set, no. 34.5 guide pulley, no. 35.5 pin, no. 36 rope, no. 37.3 guide pulley set, no. 38.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
referring to fig. 1, the passive decoupling mechanism for the joint motion of the serial rope-driven manipulator of the present invention includes a base system 1, a decoupling module 4, a decoupling rope No. 15, a arm system No. 17, an arm No. 28, a decoupling rope No. 2 11, a driving rope No. 2 13 and a driving rope No. 1 15;
referring to fig. 2 and 3, the base system 1 includes a guide wheel set No. 1, a drive wheel set No. 2, 14, 16, 17, 18, 20, 31, 32, 33, 37, and 38.
The guide wheel set No. 12 is composed of two small pulleys 30, the two small pulleys 30 are vertically overlapped and installed, and the central lines of the two small pulleys are coincident. The small pulley 30 is divided into an inner ring and an outer ring, a circular groove with a circular arc-shaped cross section is processed in the middle of the outer cylindrical surface of the outer ring, and balls are arranged between the inner ring and the outer ring, so that the inner ring and the outer ring can rotate relatively smoothly.
The driving wheel No. 2 14 and the driving wheel No. 1 16 are disc structural members with identical structures, a through hole is formed in the center of each disc, and annular grooves with circular cross sections are formed in the middle of the peripheries of the driving wheel No. 2 14 and the driving wheel No. 1 16.
The pins No. 1, no. 17, no. 2, no. 20, no. 18 and No. 6 are stainless steel cylindrical pins with the model GB119 material 304, and the lengths of the pins are different.
Referring to fig. 3, the base plate 31 is a strip-shaped plate structural member, the base plate 31 is composed of a left semicircular plate, a middle rectangular plate and a right semicircular plate, the left semicircular plate, the middle rectangular plate and the right semicircular plate are connected into a whole, and a downward concave arc-shaped sinking table is further processed at the right end of the base plate 31; the arc wall surfaces protruding from the front side and the rear side of the arc sinking table are used for limiting the No. 1 arm system 7, and in order to prevent the No. 1 arm system 1 from exceeding the movement range, a through hole is formed in the arc sinking table, and the center of the through hole coincides with the center of the semicircle; rectangular bosses with the same structure are processed on the front side and the rear side of the middle section of the base plate 31, rectangular grooves are formed in the right side adjacent to the rectangular bosses, the rectangular grooves are communicated front and rear, 3 threaded holes are formed in the bottoms of the rectangular grooves along the longitudinal center line, 2 rectangular bosses with the same structure are used for fixing the No. 1 decoupling ropes 5 and the No. 2 decoupling ropes 11, the rectangular grooves are used for installing the decoupling modules 4, the base plate 31 is provided with left light through holes, middle light through holes and right light through holes for installing the No. 1 pins 17 and the No. 2 pins 20 and installing the No. 1 driving wheel 10 along the longitudinal symmetry line from left to right, and the right light through holes are formed in the circular arc-shaped sinking table.
The structure components of the No. 2 guide wheel set 33, the No. 3 guide wheel set 37 and the No. 4 guide wheel set 38 are identical to the structure components of the No. 1 guide wheel set 2.
Referring to fig. 2 and 3, the lower end of pin No. 1 17 is inserted into an optical through hole on base plate 31, the lower end of pin No. 1 17 is in interference fit with the optical through hole on base plate 31, the lower end of pin No. 2 20 is in the same interference fit with the optical through hole on base plate 31 on the right side of pin No. 1 17, and the centers of pin No. 1 17 and pin No. 2 20 are on the longitudinal symmetry line of base plate 31; the upper end of the pin No. 1 17 is in interference fit connection with the driving wheel No. 1 16, the upper end of the pin No. 2 20 is in interference fit connection with the driving wheel No. 2 14, and the driving wheel No. 1 16 is higher than the driving wheel No. 2 14.
Referring to fig. 2,2 structurally identical pins No. 3 18 are mounted in a longitudinally symmetric line of symmetry, and 2 structurally identical pins No. 6 32 are also mounted in a longitudinally symmetric line of symmetry; and 2 pins 18 with the same structure and 2 pins 32 with the same structure are arranged in a mode of symmetry of transverse symmetry lines, wherein the transverse symmetry lines are longitudinal symmetry center lines of the bottoms of the rectangular grooves on the base plate 31, and 2 pins 18 with the same structure and 2 pins 32 with the same structure are symmetrically arranged on two sides of the rectangular grooves; the upper end of the No. 3 pin 18 in front of the longitudinal symmetry line is provided with a No. 1 guide wheel set 2 in an interference fit manner, and the upper end of the No. 3 pin 18 in rear is provided with a No. 3 guide wheel set 37 in an interference fit manner; the upper end of the No. 6 pin 32 behind the longitudinal symmetry line is provided with a No. 2 guide wheel set 33, and the upper end of the No. 6 pin 32 in front of the longitudinal symmetry line is provided with a No. 4 guide wheel set 38.
Referring to fig. 4, the decoupling module 4 includes a decoupling wheel set No. 13, a decoupling wheel set No. 2 12, a pin No. 4 19, a pin No. 5 35, an M3 screw 23, a guide rail 24 and a slider 25.
The decoupling wheel set 1 comprises 2 pulleys 22 1 with the same structure, the pulleys 22 1 with the same structure are vertically arranged in a superposition manner, and the rotation axes of the pulleys 22 1 with the same structure are collinear; the pulley No. 1 22 is also composed of an inner ring and an outer ring, wherein balls are arranged between the inner ring and the outer ring, so that the inner ring and the outer ring can rotate relatively smoothly, and a circular groove with a circular arc-shaped cross section is processed in the middle of the outer cylindrical surface of the outer ring.
The structural composition of the decoupling wheel set No. 2 12 is identical to that of the decoupling wheel set No. 13.
The pins No. 4 19 and No. 5 35 are stainless steel cylindrical pins.
The guide rail 24 is a strip-shaped structural member with a rectangular cross section and made of 45 # steel, countersunk screw through holes are formed in the guide rail 24, and V-shaped grooves are formed in two sides of the guide rail.
The sliding block 25 is a structural member with a T-shaped cross section, a rectangular groove matched with the guide rail 24 is formed in the lower end of the sliding block 25, V-shaped protruding edges matched with V-shaped grooves of the guide rail 24 are formed in two walls of the rectangular groove, and round blind holes with the same structure and used for installing the decoupling wheel set No. 1 and the decoupling wheel set No. 2 12 are formed in the two sides of the upper end of the sliding block 25.
The lower extreme of No. 5 pin 35 inserts in the blind hole on the upper end right side of slider 25, and the lower extreme of No. 5 pin 35 and the blind hole interference fit installation of slider 25 upper end, and the mounting means of No. 4 pin 19 is the same with the mounting means of No. 5 pin 35, installs in the blind hole on the upper end left side of slider 25. The center line of the pins No. 5 and No. 4 19 coincides with the longitudinal center line of the rectangular groove bottom on the base plate 31. The upper end interference fit of the No. 5 pin 35 is provided with the No. 1 decoupling wheel set 3, and the upper end interference fit of the No. 4 pin 19 is provided with the No. 2 decoupling wheel set 12. The slider 25 is mounted on the guide rail 24 through a groove at a lower end thereof, and the slider 25 is slidable on the guide rail 24. The guide rail 24 is fixed on the bottom of the rectangular groove on the base plate 31 by the M3 screw 23.
Referring to fig. 2 and 5, the arm system 1 includes a freewheel 6, a driving wheel 2, a driving wheel 10, a round shaft 21, a round-head flat key 26, an arm plate 27, a round-head flat key 28, 2 pins 29 with the same structure and 5 guide wheels 34 with the same structure and 2 pins 29 with the same structure.
The free wheel 6 is a pulley of the same type as a pulley 22 of a No. 1 decoupling wheel set 3 in the decoupling module 4, the outer diameter of the free wheel 6 is the same as the outer diameter of a large shaft of a No. 1 driving wheel 10, and the inner aperture of the free wheel 6 is the same as the outer diameter of a small shaft of the No. 1 driving wheel 10.
The driving wheel No. 29 is a disc structural member, a central through hole is formed in the center of the driving wheel No. 29, a key groove is formed in the hole wall of the central through hole, and an annular groove with an arc-shaped cross section is formed in the middle of the peripheral cylindrical surface of the driving wheel No. 29.
The No. 1 driving wheel 10 is a stepped shaft type structural member, one end of the stepped shaft type structural member is a small shaft section, the other end of the stepped shaft type structural member is a large shaft section, and a key slot is axially formed in the middle of the small shaft section; 2 circular grooves with the same structure and circular arc-shaped cross section are uniformly formed in the peripheral cylindrical surface of the large shaft section.
The round shaft 21 is a straight rod structural member with a constant cross section, one end of the round shaft 21 is provided with a key slot for installing a key, and the shaft end of the round shaft 21 for installing the key is connected with the No. 2 driving wheel 9 and the No. 2 hand arm 8 through keys.
Referring to fig. 5, the arm plate 27 is a rectangular plate with semicircular plates at two ends and a rectangular middle part, left and right through holes are formed in the left and right sides of the arm plate 27, the rotation centers of the left and right through holes are respectively overlapped with the centers of the semicircular plates at two ends, and a key slot is formed in the hole wall of the left through hole of the arm plate 27. The arm plate 27 No. 1 is provided with 2 blind holes thereon, the 2 blind holes are symmetrically arranged with the longitudinal symmetry line of the arm plate 27 No. 1, and the 2 blind holes are located between the left through hole and the right through hole.
The pin number 7 29 is a stainless steel cylindrical pin with the model number GB119 material of 304.
The guide wheel No. 5 34 and the small pulley 30 have the same structure.
Referring to fig. 5, the freewheel 6 is sleeved on a small shaft section of the driving wheel 1 10 above the round-head flat key 1, the freewheel 6 is installed with the small shaft section in an interference fit manner, the arm plate 27 is sleeved on the small shaft section of the driving wheel 1 10 with the round-head flat key 1, and the small shaft section with the round-head flat key 1 26 is installed with the arm plate 27 in a clearance fit manner; the lower ends of the 2 pins 29 with the same structure are respectively arranged in two blind holes on the arm plate 27 with the number 1, and the upper ends of the 2 pins 29 with the same structure are respectively provided with a guide wheel 34 with the number 5 in an interference fit. The lower extreme of circle axle 21 and the right through-hole clearance fit installation of No. 1 arm board 27, circle axle 21 can take place relative rotation with No. 1 arm board 27, and No. 2 round-head flat key 28 is installed in the keyway of the upper end axle of circle axle 21.
Referring to fig. 1, the arm 8 No. 2 is a rectangular plate with semicircular plates at two ends and a rectangular plate in the middle, the left semicircular plate, the rectangular plate and the right semicircular plate are connected into a whole, a through hole is formed in the left end of the arm 8 No. 2, and the center line of the through hole coincides with the center line of the left semicircular plate.
Referring to fig. 6 to 8, the decoupling ropes No. 1, no. 2, no. 1 and No. 2, no. 15 and No. 2, no. 13 are stainless steel wire ropes with diameters of 1.2mm, in which No. 1 and No. 2, no. 15 and No. 2, no. 13 are closed steel wire rope rings connected end to end, and the lengths are different; the decoupling ropes No. 1 and No. 2 are not connected end to end, and the lengths of the steel wire ropes are the same.
Referring to fig. 1, the No. 1 arm system 7 is mounted on a right light through hole of a circular arc sinking table at the right end of a base plate 31 in the base system 1 through the lower end of a small shaft section in the No. 1 driving wheel 10, the lower end of the small shaft section and the right light through hole of the circular arc sinking table are mounted in a clearance fit manner, and the No. 1 arm system 7 and the base system 1 can rotate relatively around the small shaft section of the No. 1 driving wheel 10. The left end through hole of the No. 2 arm 8 is provided with a key groove, and the No. 2 arm 8 is installed on a round shaft 21 provided with the key groove in a clearance fit manner by adopting a No. 2 round head flat key 28.
Referring to fig. 1, the decoupling rope 5 is wound around the inner side of the small pulley at the upper end of the guide pulley group 37 No. 3, the front side of the small pulley 22 at the upper end of the decoupling pulley group 3 No. 1, the inner side of the small pulley at the upper end of the guide pulley group 38 No. 4, and the outer side of the circular groove with the circular cross section below the large shaft section of the driving wheel 10 No. 1, the starting end point of the decoupling rope 5 No. 1 is fixed on the rope fixing point 36 at the right side of the driving wheel 10 No. 1, and the tail end is fixed on one side boss of the middle section of the base plate 31.
The decoupling rope 11 of No. 2 winds around the inner side of the small pulley at the upper end of the guide pulley group 2 of No. 1, the rear side of the pulley 22 of No. 1 at the upper end of the decoupling pulley group 12 of No. 2, the inner side of the small pulley at the upper end of the guide pulley group 33 of No. 2 and the rear side of the circular groove with circular arc-shaped cross section below the large shaft section of the driving wheel 10 of No. 1, the starting end point of the decoupling rope is also fixed on the rope fixing point 36 at the right side of the driving wheel 10 of No. 1, and the tail end of the decoupling rope is fixed on the other side boss at the middle section of the base plate 31.
Referring to fig. 5, the No. 1 driving rope 15 is sleeved in an annular groove with a circular arc-shaped cross section above large shaft sections of the No. 1 driving wheel 16 and the No. 1 driving wheel 10, and the No. 1 driving rope 15 is a closed steel wire rope.
Referring to fig. 1, the driving rope 13 passes around the front side of the driving wheel 14 No. 2, the inner side of the small pulley at the lower end of the guiding pulley group 37 No. 3, the front side of the small pulley 22 at the lower end of the decoupling pulley group 3 No. 1, the inner side of the small pulley at the lower end of the guiding pulley group 38 No. 4, the front side of the free wheel 6, the inner side of the guiding pulley 34 No. 3 below the longitudinal symmetry line, the front side of the driving wheel 9 No. 2, the rear side of the driving wheel 9 No. 2, the inner side of the guiding pulley 34 No. 5 above the longitudinal symmetry line, which have the same structure, the rear side of the free wheel 6, the inner side of the small pulley at the lower end of the guiding pulley group 33 No. 2, the rear side of the pulley 22 at the lower end of the decoupling pulley group 12 No. 1, the inner side of the small pulley at the lower end of the guiding pulley group 2 and the rear side of the driving wheel 14 No. 2 in turn.
The invention relates to a working principle of a passive decoupling mechanism for the joint motion of a serial rope-driven manipulator, which comprises the following steps:
referring to fig. 9 and 10, when the number 1 driving wheel 10 rotates clockwise by an angle θ, the length of the wire wound around the number 1 driving wheel 10 by the number 2 decoupling rope 11 increases by D 4 Wire winding length reduction D of [ theta ]/2, no. 1 decoupling rope 5 on No. 1 drive wheel 10 4 θ/2. Due to the shrinkage of the decoupling rope No. 2 11, the sliding block 25 in the decoupling module 4 is driven to move downwards integrally, and the movement displacement is D 4 θ/4. The decoupling wheel No. 15 moves downwards along with the sliding block 25, so that the winding length of the rope at the movable pulley is increased, and the rope length of the decoupling rope No. 15 separated from the driving wheel No. 1 10 is compensated.
Referring to fig. 11 and 12, when the number 1 driving wheel 10 rotates clockwise by an angle θ, the number 2 driving rope 13 also rotates clockwise by D 4 θ/2. Under the action of the decoupling ropes 5 and 11, the sliding block 25 on the decoupling module 4 moves downwards, so that the winding length of the lower half part of the driving rope 13 of No. 2 at the decoupling wheel set 3 of No. 1 is increased, and the driving rope 13 of No. 2 rotates anticlockwise D 4 The displacement of the clockwise and counterclockwise rotation of θ/2 cancel each other out so that no rotation of the drive wheel No. 29 relative to the arm plate No. 1 27 occurs, which results in decoupling of the movement of the arm system No. 17.
With reference to fig. 11 and 12, mathematical demonstration of the rope length change of the upper half rope of the No. 2 driving rope 13 is performed, the rope length of the upper half rope (the bold line in fig. 11 and 12) of the driving rope 2 in the initial state is set to L, the No. 1 capstan 10 is rotated clockwise by an angle θ, and thereafter, the rope length of the bold line portion as in fig. 12 is set to L 1 。
Wherein:
also, there are:
then there are:
it can be demonstrated that the rotation of the drive wheel No. 1 10 does not cause the rotation of the drive wheel No. 29 relative to the arm plate No. 1 27.
Claims (1)
1. The passive decoupling mechanism for the joint motion of the serial rope-driven manipulator is characterized by comprising a base system (1), a decoupling module (4), a No. 1 Jie Ousheng (5), a No. 1 arm system (7), a No. 2 arm (8), a No. 2 Jie Ousheng (11), a No. 2 driving rope (13) and a No. 1 driving rope (15);
the base system (1) comprises a guide wheel set (2) No. 1, a drive wheel (14) No. 2, a drive wheel (16) No. 1, a pin (17) No. 2, a pin (20) No. 2, a pin (18) No. 3 with the same structure, a base plate (31), a pin (32) No. 2 with the same structure, a guide wheel set (33) No. 2, a guide wheel set (37) No. 3 and a guide wheel set (38) No. 4;
the lower end of the No. 1 pin (17) is inserted into a left light through hole on the base plate (31), the lower end of the No. 1 pin (17) is in interference fit with the left light through hole on the base plate (31), and the lower end of the No. 2 pin (20) is inserted into a middle light through hole on the base plate (31), and the lower end of the No. 1 pin and the left light through hole are in interference fit; the driving wheel 1 (16) is arranged at the upper end of the pin 1 (17), the driving wheel 1 and the pin are in interference fit, the driving wheel 2 (14) is arranged at the upper end of the pin 2 (20), the driving wheel 1 (16) is higher than the driving wheel 2 (14) in interference fit;
2 pins (18) with the same structure are symmetrically arranged on the base plate (31) in a longitudinal symmetry line, and 2 pins (32) with the same structure are symmetrically arranged on the base plate (31) in a longitudinal symmetry line; and 2 pins (18) with the same structure and 2 pins (32) with the same structure are symmetrically arranged on the base plate (31) by the longitudinal symmetrical center line of the bottom of the rectangular groove on the base plate (31), and 2 pins (18) with the same structure and 2 pins (32) with the same structure are symmetrically arranged on two sides of the rectangular groove; the upper end of a No. 3 pin (18) behind the longitudinal symmetry line is provided with a No. 1 guide wheel set (2) in an interference fit manner, and the upper end of a No. 3 pin (18) in front is provided with a No. 3 guide wheel set (37) in an interference fit manner; the upper end of the No. 6 pin (32) behind the longitudinal symmetry line is provided with a No. 2 guide wheel set (33), and the upper end of the No. 6 pin (32) in front of the longitudinal symmetry line is provided with a No. 4 guide wheel set (38);
the base plate (31) is a strip-shaped plate structural member, the base plate (31) consists of a left semicircular plate, a middle rectangular plate and a right semicircular plate, the left semicircular plate, the middle rectangular plate and the right semicircular plate are connected into a whole, and the right end of the base plate (31) is further provided with a downward concave arc sinking table; the protruding circular arc walls at the front and back sides of the circular arc sinking platform are limited by a No. 1 arm system (7), a through hole is arranged on the circular arc sinking platform, and the center of the through hole is coincident with the center of the semicircle; rectangular bosses with the same structure are arranged on the front side and the rear side of the middle section of the base plate (31), rectangular grooves for installing decoupling modules (4) are formed in the right side, adjacent to the rectangular bosses, the rectangular grooves penetrate front and back, 3 threaded holes are formed in the bottoms of the rectangular grooves along the longitudinal center line, 2 rectangular bosses with the same structure are used for fixing one ends of No. 1 Jie Ousheng (5) and No. 2 Jie Ousheng (11), a left light through hole, a middle light through hole and a right light through hole for installing No. 1 pins (17), no. 2 pins (20) and installing No. 1 driving wheels (10) are formed in the base plate (31) along the longitudinal symmetry line from left to right, and the right light through holes are through holes formed in the circular arc-shaped sinking table;
the decoupling module (4) further comprises a decoupling wheel set No. 1 (3), a decoupling wheel set No. 2 (12), a pin No. 4 (19), a pin No. 5 (35) and a sliding block (25);
the lower end of the No. 5 pin (35) is inserted into a blind hole at the front end of the sliding block (25), the lower end of the No. 5 pin (35) is connected with the blind hole at the front end of the sliding block (25) in an interference fit manner, the lower end of the No. 4 pin (19) is inserted into the blind hole at the rear end of the sliding block (25), the upper end of the No. 5 pin (35) is provided with a No. 1 decoupling wheel set (3) in an interference fit manner, the upper end of the No. 4 pin (19) is provided with a No. 2 decoupling wheel set (12) in an interference fit manner, the sliding block (25) is arranged on the guide rail (24) through a groove at the lower end of the sliding block, the sliding block (25) is in sliding connection with the guide rail (24), and the guide rail (24) is fixed on the groove bottom of a rectangular groove on the base plate (31) through M3 screws (23);
the No. 1 arm system (7) comprises a free wheel (6), a No. 2 driving wheel (9), a No. 1 driving wheel (10), a round shaft (21), a No. 1 round head flat key (26), a No. 1 arm plate (27), a No. 2 round head flat key (28), 2 No. 7 pins (29) with the same structure and No. 5 guide wheels (34) with the same structure as the 2 pins;
the free wheel (6) is sleeved on a small shaft section of the No. 1 driving wheel (10) above the No. 1 round head flat key (26), the free wheel (6) is in interference fit with the small shaft section of the No. 1 round head flat key (26), the No. 1 arm plate (27) is sleeved on the small shaft section of the No. 1 driving wheel (10) above the No. 1 round head flat key (26), and the small shaft section of the No. 1 round head flat key (26) is in clearance fit with the No. 1 arm plate (27); the lower ends of the No. 7 pins (29) with the same structure are respectively arranged in two blind holes on the No. 1 arm plate (27), the upper ends of the No. 7 pins (29) with the same structure are respectively provided with a No. 5 guide wheel (34) in an interference fit manner, the lower end of the round shaft (21) is in clearance fit with the right through hole of the No. 1 arm plate (27), the round shaft (21) is in rotary connection with the No. 1 arm plate (27), the No. 2 round head flat key (28) is arranged in a key groove of the upper end shaft of the round shaft (21), and the No. 2 driving wheel (9) is sleeved on the round shaft (21) provided with the No. 2 round head flat key (28);
the arm plate (27) is a rectangular plate with semicircular plates at two ends and a rectangular middle part, a left through hole and a right through hole are formed in the left side and the right side of the arm plate (27), the rotation centers of the left through hole and the right through hole are respectively overlapped with the centers of the semicircular plates at the two ends, and a key slot for installing a round-head flat key (26) of the No. 1 is formed in the hole wall of the left through hole of the arm plate (27); 2 blind holes with the same structure for mounting 2 guide wheels (34) with the same structure are formed in the No. 1 arm plate (27), the 2 blind holes are symmetrically arranged along the longitudinal symmetry line of the No. 1 arm plate (27), and the 2 blind holes with the same structure are positioned between the left through hole and the right through hole;
the left end of the No. 2 arm (8) is provided with a left through hole, the center line of the left through hole coincides with the center line of the left semicircular plate, and the hole wall of the left through hole is provided with a key slot for installing a key;
the decoupling module (4) is arranged in a rectangular groove on the base plate (31) through a guide rail (24), the No. 1 arm system (7) is arranged in a right light through hole on the base plate (31) through the lower end of a small shaft section in the No. 1 driving wheel (10), and the No. 2 arm (8) is arranged at the right end of the No. 1 arm plate (27) through a No. 2 round head flat key (28) and a round shaft (21); the No. 1 driving rope (15) is sleeved in an annular groove above a No. 1 driving wheel (16) and a No. 1 driving wheel (10) which are arranged on the base plate (31), a No. 1 Jie Ousheng (5) is used for connecting the base system (1) and the decoupling module (4) with the No. 1 arm system (7) in series, a No. 2 Jie Ousheng (11) is used for connecting the base system (1) and the decoupling module (4) with the No. 1 arm system (7) in series, and a No. 2 driving rope (13) is used for connecting the base system (1) and the decoupling module (4) with the No. 1 arm system (7) in series;
the serial connection of the base system (1), the decoupling module (4) and the arm system (7) No. 1 Jie Ousheng (5) means that: the novel elevator is characterized in that the No. 1 Jie Ousheng (5) sequentially bypasses the inner side of a small pulley at the upper end of the No. 3 guide pulley group (37), the front side of a No. 1 pulley (22) at the upper end of the No. 1 decoupling pulley group (3), the inner side of a small pulley at the upper end of the No. 4 guide pulley group (38) and the front side of an annular groove with an arc cross section below a large shaft section of the No. 1 driving wheel (10), the initial end point of the No. 1 Jie Ousheng (5) is fixed on a rope fixed point (36) at the right side of the No. 1 driving wheel (10), and the tail end of the rope fixed point is fixed on a front boss at the middle section of the base plate (31);
the serial connection of the base system (1), the decoupling module (4) and the arm system (7) No. 1 by the No. 2 Jie Ousheng (11) means that: the novel elevator is characterized in that the No. 2 Jie Ousheng (11) sequentially bypasses the inner side of a small pulley at the upper end of the No. 1 guide pulley group (2), the rear side of a No. 1 pulley (22) at the upper end of the No. 2 decoupling pulley group (12), the inner side of a small pulley at the upper end of the No. 2 guide pulley group (33) and the rear side of an annular groove with a circular arc-shaped cross section below a large shaft section of the No. 1 driving wheel (10), the starting end point of the No. 2 Jie Ousheng (11) is also fixed on a rope fixing point (36) at the right side of the No. 1 driving wheel (10), and the tail end of the rope fixing point is fixed on a rear boss at the middle section of the base plate (31);
the No. 2 driving rope (13) connects the base system (1), the decoupling module (4) and the No. 1 arm system (7) in series, which means that: the driving rope (13) passes around the front side of the driving wheel (14) No. 2, the inner side of the small pulley at the lower end of the guide pulley group (37) No. 3, the front side of the small pulley (22) at the lower end of the decoupling pulley group (3) No. 1, the inner side of the small pulley at the lower end of the guide pulley group (38) No. 4, the front side of the free pulley (6), the inner side of the guide pulley (34) No. 5 below the longitudinal symmetry line, the front side of the driving wheel (9) No. 2, the rear side of the driving wheel (9) No. 2, the inner side of the guide pulley (34) No. 2 with the same structure above the longitudinal symmetry line, the rear side of the free pulley (6), the inner side of the small pulley at the lower end of the guide pulley group (33) No. 2, the rear side of the small pulley (22) at the lower end of the guide pulley group (2) No. 1, the inner side of the small pulley at the lower end of the guide pulley group (2) No. 2) and the rear side of the driving wheel (14) No. 2 in turn, and the rope (13) No. 2 are closed steel wires.
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| CN109732585B (en) * | 2019-03-04 | 2023-03-24 | 吉林大学 | Passive decoupling zero mechanism of serial-type rope-driven manipulator joint motion |
| CN110154045B (en) * | 2019-04-29 | 2022-04-22 | 合肥工业大学 | Flexible cable-driven series-connection four-degree-of-freedom spraying mechanical arm |
| CN111015644B (en) * | 2019-12-24 | 2022-10-25 | 中国科学院沈阳自动化研究所 | Rope drives formula arm based on coupling linkage |
| 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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