CN109551469B - Mechanical arm based on multi-motor coupling line driving - Google Patents

Mechanical arm based on multi-motor coupling line driving Download PDF

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Publication number
CN109551469B
CN109551469B CN201811246464.5A CN201811246464A CN109551469B CN 109551469 B CN109551469 B CN 109551469B CN 201811246464 A CN201811246464 A CN 201811246464A CN 109551469 B CN109551469 B CN 109551469B
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China
Prior art keywords
degree
freedom
shoulder joint
wire
joint
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CN109551469A (en
Inventor
陈斌斌
毕昇
曹刚
莫锦秋
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Shanghai Jiao Tong University
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Shanghai Jiao Tong University
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators

Abstract

The invention relates to a mechanical arm based on multi-motor coupling line driving, which comprises a shoulder joint mechanism and an elbow joint mechanism which are connected with each other; wherein shoulder joint mechanism includes: a shoulder joint first degree of freedom component; the shoulder joint second degree-of-freedom component is connected with the shoulder joint first degree-of-freedom component; the shoulder joint third degree of freedom component is connected with the shoulder joint second degree of freedom component; the shoulder joint first degree-of-freedom component and the shoulder joint second degree-of-freedom component are connected through connecting lines, and the shoulder joint first degree-of-freedom component and the shoulder joint third degree-of-freedom component are connected through connecting lines. Compared with the prior art, the invention has the following beneficial effects: the joint motors of the mechanical arm are mutually coupled in a steel wire rope stay wire coupling mode, so that the load of a single joint can be transmitted to other joints through a steel wire rope, when the load of a certain joint exceeds the limit of the joint motor, the exceeding part can be transmitted to other joint motors, and motor overload and mechanical arm failure are avoided.

Description

Mechanical arm based on multi-motor coupling line driving
Technical Field
The invention relates to a line driving mechanical arm, in particular to a mechanical arm based on a multi-motor coupling line driving structure.
Background
The traditional industrial mechanical arm or cooperative robot mostly adopts a single-joint single-motor driving arrangement mode, the mode is favorable for driving and controlling integration, and mechanical arms produced by different manufacturers are mostly concentrated on the design of driving and controlling integrated joints. The disadvantage of this model is that each joint is always driven by a single motor, which results in an unreasonable distribution of the load forces, which tends to be greater at the first or second joint at the beginning of the robot arm and smaller at the end joint, which is why many manufacturers produce robots with mostly "heavy feet and lighter heads", i.e. the beginning joints with motors with larger loads and the end joints with motors with smaller loads. If a load carried by one of the joints of the robotic arm exceeds the motor load limit for that joint, failure of the robotic arm may result.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the mechanical arm which is based on multi-motor coupling line drive and can provide five-degree-of-freedom motion, and the mechanical arm can carry out motor output coupling in a wire winding mode through reasonable wiring.
In order to solve the technical problem, the gas-assisted resistance spot welding device comprises a shoulder joint mechanism and an elbow joint mechanism which are connected with each other; wherein
The shoulder joint mechanism includes:
a shoulder joint first degree of freedom component;
the shoulder joint second degree-of-freedom component is connected with the shoulder joint first degree-of-freedom component;
the shoulder joint third degree of freedom component is connected with the shoulder joint second degree of freedom component; wherein
The shoulder joint first degree-of-freedom component and the shoulder joint second degree-of-freedom component are connected through connecting lines, and the shoulder joint first degree-of-freedom component and the shoulder joint third degree-of-freedom component are connected through connecting lines.
Preferably, the shoulder joint first degree-of-freedom component comprises:
the shoulder joint first-degree-of-freedom connecting piece is connected with the shoulder joint second-degree-of-freedom component;
the first-degree-of-freedom bracket of the shoulder joint is connected with the first-degree-of-freedom connecting piece of the shoulder joint;
the first-degree-of-freedom motor of the shoulder joint, the first-degree-of-freedom steering wheel of the shoulder joint and the first line wheel of the first degree-of-freedom of the shoulder joint are sequentially connected in series; wherein
The shoulder joint first degree-of-freedom motor is arranged on the shoulder joint first degree-of-freedom bracket;
the shoulder joint first degree of freedom second reel is connected with the shoulder joint first degree of freedom support.
Preferably, the shoulder joint second degree-of-freedom component comprises:
the shoulder joint second degree-of-freedom bracket is connected with the shoulder joint first degree-of-freedom connecting piece;
the shoulder joint second degree of freedom motor, the shoulder joint second degree of freedom steering wheel and the shoulder joint second degree of freedom first reel are connected in series in sequence; wherein
The shoulder joint second degree-of-freedom motor is arranged on the shoulder joint second degree-of-freedom bracket;
the shoulder joint second degree-of-freedom first shaft and the shoulder joint second degree-of-freedom second shaft are respectively arranged on the shoulder joint second degree-of-freedom bracket, and the shoulder joint second degree-of-freedom first shaft and the shoulder joint second degree-of-freedom second shaft are connected with the shoulder joint first degree-of-freedom connecting piece;
the second-degree-of-freedom second wire wheel of the shoulder joint and the third wire wheel of the shoulder joint are sleeved on a second shaft of the shoulder joint.
Preferably, the shoulder joint third degree of freedom assembly comprises:
the shoulder joint third degree-of-freedom connecting piece is connected with the shoulder joint second degree-of-freedom bracket;
the shoulder joint third degree of freedom bracket is connected with the shoulder joint third degree of freedom connecting piece;
the shoulder joint third degree of freedom motor, the shoulder joint third degree of freedom steering wheel and the shoulder joint third degree of freedom second reel are sequentially connected in series; wherein
The shoulder joint third degree of freedom motor is arranged on the shoulder joint third degree of freedom bracket;
and the shoulder joint third degree of freedom first wire wheel is connected with the shoulder joint third degree of freedom bracket.
Preferably, the elbow joint mechanism includes:
the left fixing plate and the right fixing plate are respectively connected with the third-degree-of-freedom bracket of the shoulder joint;
the first motor of the elbow joint, the first steering wheel of the elbow joint and the first reel of the elbow joint are sequentially connected in series; wherein
The first motor of the elbow joint is connected between the left fixing plate and the right fixing plate;
the elbow joint second motor, the elbow joint second steering wheel and the elbow joint second wire wheel are sequentially connected in series; wherein
The elbow joint second motor is connected between the left side fixing plate and the right side fixing plate;
the driven wire traveling wheel is arranged on the right side fixing plate;
the elbow joint freedom degree connecting piece is connected with the elbow joint second motor;
the third pulley of the elbow joint is arranged on the elbow joint freedom degree connecting piece;
one end of the extension rod is connected with the elbow joint third line wheel.
Preferably, the wire end of the first connecting wire starts from a first wire winding groove of a third-degree-of-freedom first wire wheel with a shoulder joint fixed at the end part, goes to the first wire winding groove of the first-degree-of-freedom first wire wheel driving the shoulder joint through a first wire winding groove of the second-degree-of-freedom second wire wheel with a shoulder joint passively, then passes through a wire routing hole between the first wire winding groove of the first-degree-of-freedom first wire wheel with the shoulder joint and a second wire winding groove of the first-degree-of-freedom first wire wheel with the shoulder joint, then winds onto the second wire winding groove of the first-degree-of-freedom first wire wheel with the shoulder joint after passing through a wire routing hole between the first wire winding groove of the first-degree-of-freedom first wire wheel with the shoulder joint passively;
two line ends of the first connecting line respectively penetrate out of the line passing holes of the first winding groove and the second winding groove on the first line wheel with the third degree of freedom of the end fixing shoulder joint, penetrate through the hollow screw installed on the second line clamping plate and then are fixed by using the line clamping head.
Preferably, the wire end of the second connecting wire starts from the first wire winding groove of the second wire wheel with the first degree of freedom of the shoulder joint fixed at the end part, goes to the first wire winding groove of the first wire wheel with the second degree of freedom of the shoulder joint, then winds on the second wire winding groove of the first wire wheel with the second degree of freedom of the shoulder joint after passing through a wire running hole between the first wire winding groove of the first wire wheel with the second degree of freedom of the shoulder joint and the second wire winding groove of the first wire wheel with the second degree of freedom of the shoulder joint, and finally returns to the second wire winding groove of the second wire wheel with the first degree of freedom of the shoulder joint fixed at the end part;
two line ends of the second connecting line respectively penetrate out of the line passing holes of the first wire winding groove and the second wire winding groove on the first-degree-of-freedom second line wheel of the end fixing shoulder joint, and then penetrate through a hollow screw installed on the first wire clamping plate and then are fixed with the line end of the second connecting line through the wire clamping head.
Preferably, the wire end of the third connecting wire starts from a third winding groove of the end part fixed shoulder joint first degree-of-freedom second wire wheel, goes to the first winding groove of the shoulder joint third degree-of-freedom second wire wheel by passing through a wire running hole between the first winding groove of the shoulder joint third degree-of-freedom second wire wheel and the second winding groove of the shoulder joint third degree-of-freedom second wire wheel, then winds onto the second winding groove of the shoulder joint third degree-of-freedom second wire wheel after passing through a wire running hole between the first winding groove of the shoulder joint third degree-of-freedom second wire wheel and returns to the fourth winding groove of the end part fixed shoulder joint first degree-of-freedom second wire wheel by passing through the second winding groove of the shoulder joint second degree-of-freedom third wire wheel;
two wire ends of the third connecting wire penetrate out of wire passing holes of a third wire winding groove and a fourth wire winding groove in the first-degree-of-freedom second wire wheel of the end fixing shoulder joint respectively, and then penetrate through a hollow screw installed on the first wire clamping plate and then are fixed by using a wire clamping head.
Preferably, the wire end of the fourth connecting wire starts from the first winding groove of the third wire wheel with the end part fixed with the elbow joint, goes to the first winding groove of the first wire wheel driving the elbow joint through the first winding groove of the passive wire traveling wheel, then passes through the wire traveling hole between the first winding groove of the first wire wheel with the elbow joint and the second winding groove of the first wire wheel with the elbow joint, then winds onto the second winding groove of the first wire wheel with the elbow joint, and returns to but is not fixed on the third winding groove of the third wire wheel with the elbow joint through the second winding groove of the passive wire traveling wheel;
two wire ends of the fourth connecting wire respectively penetrate out of wire passing holes of the first wire winding groove and the third wire winding groove on the end part fixed elbow joint third wire wheel, and then penetrate through a hollow screw installed on the third wire clamping plate to fix the wire end of the fourth connecting wire by using a wire clamping head.
Preferably, the wire end of the fifth connecting wire starts from the second winding groove of the third wire wheel with the end part fixed with the elbow joint, goes to the first winding groove for driving the second wire wheel with the elbow joint, then passes through a wire feeding hole between the first winding groove of the second wire wheel with the elbow joint and the second winding groove of the second wire wheel with the elbow joint, then winds onto the second winding groove of the second wire wheel with the elbow joint, and finally returns to the fourth winding groove of the third wire wheel with the end part fixed with the elbow joint;
two wire ends of the fifth connecting wire respectively penetrate out of wire passing holes of a second wire winding groove and a fourth wire winding groove on the end part fixed elbow joint third wire wheel, and then penetrate through a hollow screw installed on the third wire clamping plate to fix the wire end of the fifth connecting wire by using a wire clamping head.
Compared with the prior art, the invention has the following beneficial effects: the joint motors of the mechanical arm are mutually coupled in a steel wire rope stay wire coupling mode, so that the load of a single joint can be transmitted to other joints through a steel wire rope, when the load of a certain joint exceeds the limit of the joint motor, the exceeding part can be transmitted to other joint motors, and motor overload and mechanical arm failure are avoided.
Drawings
Fig. 1 is an overall schematic diagram of a robot arm based on a multi-motor coupled line driving structure according to the present invention.
Fig. 2 is a schematic unfolding diagram of a mechanical arm based on a multi-motor coupled wire drive structure according to the present invention.
Fig. 3 is a schematic structural diagram of a first degree-of-freedom component of the shoulder joint of the mechanical arm based on a multi-motor coupled wire drive structure.
Fig. 4 is a structural schematic diagram of a second degree of freedom component of the shoulder joint of the mechanical arm based on a multi-motor coupled line driving structure.
Fig. 5 is a schematic structural diagram of a third degree of freedom component of the shoulder joint of the mechanical arm based on a multi-motor coupled line driving structure according to the present invention.
Fig. 6 is a schematic structural diagram of the elbow joint mechanism of the mechanical arm based on a multi-motor coupled wire drive structure.
Fig. 7 is a distribution diagram of the winding slots of the shoulder joint mechanism of the mechanical arm based on a multi-motor coupled line driving structure.
Fig. 8 is a steel wire routing diagram of the shoulder joint mechanism of the mechanical arm based on a multi-motor coupling line driving structure.
Fig. 9 is a distribution diagram of the winding slot of the elbow joint mechanism of the mechanical arm based on a multi-motor coupled wire driving structure.
Fig. 10 is a wire routing diagram of the elbow joint mechanism of the mechanical arm based on a multi-motor coupling wire driving structure.
Fig. 11 is a schematic pose diagram of the mechanical arm based on the multi-motor coupled line driving structure for performing the first degree of freedom motion of the shoulder joint.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a multi-motor coupling line drive-based mechanical arm, which comprises a 3-DOF shoulder joint mechanism 1 and a 2-DOF elbow joint mechanism 2, wherein the 3-DOF shoulder joint mechanism is divided into a shoulder joint first degree of freedom assembly 11, a shoulder joint second degree of freedom assembly 12 and a shoulder joint third degree of freedom assembly 13, as shown in figures 1 and 2.
As shown in fig. 3, the shoulder joint first degree-of-freedom assembly 11 includes a shoulder joint first degree-of-freedom motor 111, a shoulder joint first degree-of-freedom rudder plate 112, a shoulder joint first degree-of-freedom bracket 113, a shoulder joint first degree-of-freedom connector 114, a first wire clamping plate 115, a shoulder joint first degree-of-freedom first wire wheel 116, and a shoulder joint first degree-of-freedom second wire wheel 117; the output shaft of the shoulder joint first degree-of-freedom motor 111, the shoulder joint first degree-of-freedom rudder disc 112 and the shoulder joint first degree-of-freedom first line wheel 116 are sequentially connected in series, the shoulder joint first degree-of-freedom support 113 and the shoulder joint first degree-of-freedom second line wheel 117 are fixedly connected with each other, a steel wire rope winds out of the rear end of the shoulder joint first degree-of-freedom second line wheel 117 and penetrates out of the first line clamping plate 115 to be tensioned, and meanwhile the shoulder joint first degree-of-freedom support 113 serves as a mounting and fixing frame for the shoulder joint first degree-of-freedom motor 111.
As shown in fig. 4, the shoulder joint second degree-of-freedom assembly 12 includes a shoulder joint second degree-of-freedom motor 121, a shoulder joint second degree-of-freedom rudder plate 122, a shoulder joint second degree-of-freedom bracket 123, a shoulder joint second degree-of-freedom first shaft 124, a shoulder joint second degree-of-freedom second shaft 125, a shoulder joint second degree-of-freedom first pulley 126, a shoulder joint second degree-of-freedom second pulley 127, and a shoulder joint second degree-of-freedom third pulley 128; wherein, the output shaft of the shoulder joint second degree of freedom motor 121, the shoulder joint second degree of freedom rudder plate 122 and the shoulder joint second degree of freedom first line wheel 126 are connected in series in turn, and the shoulder joint second degree of freedom bracket 123 is used for mounting a fixing frame for the shoulder joint second degree of freedom motor 121.
As shown in fig. 5, the shoulder joint third degree of freedom component 13 includes a shoulder joint third degree of freedom motor 131, a shoulder joint third degree of freedom rudder plate 132, a shoulder joint third degree of freedom bracket 133, a shoulder joint third degree of freedom connecting piece 134, a second wire clamping plate 135, a shoulder joint third degree of freedom first wire wheel 136, and a shoulder joint third degree of freedom second wire wheel 137; the output shaft of the shoulder joint third degree of freedom motor 131, the shoulder joint third degree of freedom steering wheel 132 and the shoulder joint third degree of freedom second reel 137 are sequentially connected in series, the shoulder joint third degree of freedom bracket 133 and the shoulder joint third degree of freedom first reel 136 are fixedly connected with each other, the steel wire rope is wound out of the shoulder joint third degree of freedom first reel 136, the rear end of the steel wire rope penetrates out of the second wire clamping plate 135 and is tensioned, and meanwhile, the shoulder joint third degree of freedom bracket 133 serves as a mounting bracket for the shoulder joint third degree of freedom motor 131.
As shown in fig. 6, the 2-DOF elbow joint mechanism 2 includes a first elbow joint motor 21, a second elbow joint motor 22, a first elbow joint steering wheel 23, a second elbow joint steering wheel 24, a left side fixing plate 25, a right side fixing plate 26, a elbow joint degree of freedom connecting piece 27, a third wire clamping plate 28, an extension rod 29, a first elbow joint spool 210, a passive spool 211, a second elbow joint spool 212, and a third elbow joint spool 213; wherein, the first motor 21 output shaft of elbow joint, the first steering wheel 23 of elbow joint, the first reel 210 of elbow joint series connection in proper order, elbow joint second motor 22 output shaft, elbow joint second steering wheel 24, the second reel 212 of elbow joint series connection in proper order, elbow joint third reel 213 links firmly each other with extension rod 29, wire rope winds out the rear end portion from third reel 213 of elbow joint and wears out and do wire rope card line tensioning from third wire clamping plate 28.
The shoulder joint first degree-of-freedom assembly 11 of the 3-DOF shoulder joint mechanism 1 is in fit connection with a shoulder joint second degree-of-freedom first shaft 124 and a shoulder joint second degree-of-freedom second shaft 125 of the shoulder joint second degree-of-freedom assembly 12 through a shoulder joint first degree-of-freedom connector 114 based on needle bearings; the shoulder joint second degree-of-freedom component 12 is connected with the shoulder joint third degree-of-freedom connecting piece 134 of the shoulder joint third degree-of-freedom component 13 through the shoulder joint second degree-of-freedom bracket 123; the shoulder joint third degree of freedom assembly 13 is connected with the left fixing plate 25 and the right fixing plate 26 of the 2-DOF elbow joint mechanism 2 through the shoulder joint third degree of freedom bracket 133.
As shown in fig. 7 and 8, the wire trace diagram of the 3-DOF shoulder joint mechanism 1 is as follows:
the 3-DOF shoulder joint mechanism 1 steel wire routing includes routing descriptions of a first connecting wire 1001 (in this embodiment, a steel wire), a second connecting wire 1002 (in this embodiment, a steel wire), and a third connecting wire 1003 (in this embodiment, a steel wire).
The wire end of the first connecting wire 1001 (in this embodiment, a steel wire) starts from the first winding groove 31A of the first pulley 136 with the third degree of freedom of the shoulder joint fixed at the end portion, goes to the first winding groove 11A of the first pulley 116 with the first degree of freedom of the shoulder joint by passing through the first winding groove 22A of the second pulley 127 with the second degree of freedom of the shoulder joint, goes through a wire running hole between the first winding groove 11A of the first pulley 116 with the first degree of freedom of the shoulder joint and the second winding groove 11B of the first pulley 116 with the first degree of freedom of the shoulder joint, then goes around the second winding groove 11B of the first pulley 116 with the first degree of freedom of the shoulder joint, goes through the second winding groove 22B of the second pulley 127 with the second degree of freedom of the shoulder joint, and returns to the second winding groove 31B of the first pulley 136 with the third degree of freedom of the shoulder joint; two line ends of the first connecting line 1001 (adopting a steel wire in the embodiment) respectively penetrate out of line passing holes of the first winding groove 31A and the second winding groove 31B on the third degree of freedom first line wheel 136 of the end fixing shoulder joint, penetrate through a hollow screw arranged on the second line clamping plate 135, and then are clamped tightly by using a line clamping head to clamp the line end of the first connecting line 1001 (adopting a steel wire in the embodiment), and the hollow screw is rotated outwards to strain the first connecting line 1001 (adopting a steel wire in the embodiment).
The wire end of the second connecting wire 1002 (in this embodiment, a steel wire) starts from the first wire winding groove 12A of the second wire wheel 117 with the first degree of freedom of the shoulder joint fixed at the end part, goes to the first wire winding groove 21A of the first wire wheel 126 with the second degree of freedom of the shoulder joint, then passes through a wire running hole between the first wire winding groove 21A of the first wire wheel 126 with the second degree of freedom of the shoulder joint and the second wire winding groove 21B of the first wire wheel 126 with the second degree of freedom of the shoulder joint, winds onto the second wire winding groove 21B of the first wire wheel 126 with the second degree of freedom of the shoulder joint, and finally returns to the second wire winding groove 12B of the second wire wheel 117 with the first degree of freedom of the shoulder joint fixed; two line ends of the second connecting line 1002 (adopting a steel wire in this embodiment) respectively penetrate out of the line passing holes of the first wire winding groove 12A and the second wire winding groove 12B on the first degree of freedom second line wheel 117 of the shoulder joint fixed at the end part, and then penetrate through the hollow screw installed on the first line clamping plate 115, and then the line end of the second connecting line 1002 (adopting a steel wire in this embodiment) is clamped by using the line clamping head, and the hollow screw is rotated outwards to tighten the second connecting line 1002 (adopting a steel wire in this embodiment).
The line end of the third connecting line 1003 (in this embodiment, a steel wire) starts from the third winding groove 12C of the second reel 117 with the first degree of freedom of the shoulder joint fixed at the end portion, goes to the first winding groove 32A of the second reel 137 with the third degree of freedom of the shoulder joint through the first winding groove 23A of the third reel 128 with the second degree of freedom of the shoulder joint, goes through the wiring hole between the first winding groove 32A of the second reel 137 with the third degree of freedom of the shoulder joint and the second winding groove 32B of the second reel 137 with the third degree of freedom of the shoulder joint, then goes around the second winding groove 32B of the second reel 137 with the third degree of freedom of the shoulder joint, goes through the second winding groove 23B of the third reel 128 with the second degree of freedom of the shoulder joint, and returns to the fourth winding groove 12D of the second reel 117 with the first degree of freedom of the shoulder; two line ends of the third connecting line 1003 (adopting a steel wire in the embodiment) respectively penetrate out of line passing holes of the third winding groove 12C and the fourth winding groove 12D on the first-degree-of-freedom second line wheel 117 of the shoulder joint fixed at the end part, then penetrate through a hollow screw installed on the first line clamping plate 115, and then clamp the line end of the third connecting line 1003 (adopting the steel wire in the embodiment) by using a line clamping head, and the third connecting line 1003 (adopting the steel wire in the embodiment) can be tensioned by outwards rotating the hollow screw.
As shown in fig. 9 and 10, the wire trace diagram of the 2-DOF elbow joint mechanism 2 is as follows:
the 2-DOF elbow joint mechanism 2 wire routing includes routing descriptions of a fourth connecting wire 1004 (in this embodiment, a wire) and a fifth connecting wire 1005 (in this embodiment, a wire).
The wire end of the fourth connecting wire 1004 (in this embodiment, a steel wire) starts from the first winding groove 44A of the elbow joint third pulley 213 fixed at the end, goes to the first winding groove 41A of the elbow joint first pulley 210 through the first winding groove 42A of the passive wire feeding wheel 211, passes through the wire feeding hole between the first winding groove 41A of the elbow joint first pulley 210 and the second winding groove 41B of the elbow joint first pulley 210, then winds onto the second winding groove 41B of the elbow joint first pulley 210, passes through the second winding groove 42B of the passive wire feeding wheel 211, and returns to but is not fixed on the third winding groove 44C of the elbow joint third pulley 213; two line ends of the fourth connecting line 1004 (adopting a steel wire in the embodiment) respectively penetrate out of the line passing holes of the first winding groove 44A and the third winding groove 44C on the end part fixed elbow joint third line wheel 213, then penetrate through the hollow screw arranged on the third line clamping plate 28, and then use the line clamping head to clamp the line end of the fourth connecting line 1004 (adopting a steel wire in the embodiment), and the fourth connecting line 1004 (adopting a steel wire in the embodiment) can be tensioned by externally screwing the hollow screw.
The wire end of the fifth connecting wire 1005 (which is made of steel wire in this embodiment) starts from the second winding groove 44B of the end-fixed elbow joint third reel 213, goes to the first winding groove 43A of the elbow joint second reel 212, passes through the wire feeding hole between the first winding groove 43A of the elbow joint second reel 212 and the second winding groove 43B of the elbow joint second reel 212, then winds onto the second winding groove 43B of the elbow joint second reel 212, and finally returns to the fourth winding groove 44D of the end-fixed elbow joint third reel 213; two line ends of the fifth connecting line 1005 (in this embodiment, a steel wire) respectively penetrate through the line passing holes of the second winding groove 44B and the fourth winding groove 44D on the third reel 213 of the elbow joint fixed at the end, and then penetrate through the hollow screw installed on the third line clamping plate 28, and then the line end of the fifth connecting line 1005 (in this embodiment, a steel wire) is clamped by using the line clamping head, and the fifth connecting line 1005 (in this embodiment, a steel wire) can be tensioned by externally screwing the hollow screw.
As shown in fig. 11, a mechanical arm based on a multi-motor coupled line driving structure is driven by a motor pulling a steel wire rope during normal activities, and the steel wire rope coupling structure between the motors often requires a plurality of motors to participate simultaneously during driving with a certain degree of freedom; taking the first degree of freedom motion of the shoulder joint as an example, in order to generate an angle change, the first degree of freedom motor 111 of the shoulder joint, the second degree of freedom motor 121 of the shoulder joint, and the third degree of freedom motor 131 of the shoulder joint participate in the motion at the same time, and the angles of the three meet a certain linear relationship, and the conversion relationship of the two degrees of freedom joint angles of the rest shoulder joints is combined, so that an angle mapping matrix from the degrees of freedom joint angles to the motor angles can be obtained:wherein u is1Representing 3-DOF the first-degree-OF-freedom connecting piece 114 OF the shoulder joint in the shoulder joint mechanism 1 is set to the joint angle, u, OF the first-degree-OF-freedom bracket 113 OF the shoulder joint2Represents the joint angle u of the shoulder joint second degree-of-freedom support 123 relative to the shoulder joint first degree-of-freedom link 114 in the 3-DOF shoulder joint mechanism 13Represents the joint angle v of the 3-DOF shoulder joint mechanism 1 shoulder joint third degree of freedom connecting piece 134 relative to the shoulder joint third degree of freedom bracket 1331Represents the motor angle, v, of the shoulder joint first degree of freedom rudder disk 112 relative to the shoulder joint first degree of freedom motor 111 in the 3-DOF shoulder joint mechanism 12Represents the motor angle v of the rudder disk 122 of the second degree of freedom of the shoulder joint relative to the motor 121 of the second degree of freedom of the shoulder joint in the 3-DOF shoulder joint mechanism 13The motor angle of the shoulder joint third degree of freedom rudder disc 132 relative to the shoulder joint third degree of freedom motor 131 in the 3-DOF shoulder joint mechanism 1 is shown, and a constant of 2.163 is derived from a dimension proportionality coefficient of a reel; the 2-DOF elbow joint mechanism 2 also has an angle mapping relationship from the joint angle of the degree of freedom to the motor angle, and the matrix form is as follows:wherein u is4Represents the joint angle u of the elbow joint degree of freedom connecting piece 27 relative to the left fixing plate 25 in the 2-DOF elbow joint mechanism 25Represents the joint angle, v, of the elbow joint third pulley 213 in the 2-DOF elbow joint mechanism 2 relative to the elbow joint degree of freedom linkage 274Represents the motor angle, v, of the first rudder disk 23 of the elbow joint in the 2-DOF elbow joint mechanism 2 relative to the first motor 21 of the elbow joint5The motor angle of the second rudder disk 24 of the elbow joint in the 2-DOF elbow mechanism 2 relative to the second motor 22 of the elbow joint is shown.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (6)

1. A mechanical arm based on multi-motor coupling line driving is characterized by comprising a shoulder joint mechanism and an elbow joint mechanism which are connected with each other; wherein
The shoulder joint mechanism includes:
a shoulder joint first degree of freedom component;
the shoulder joint second degree-of-freedom component is connected with the shoulder joint first degree-of-freedom component;
the shoulder joint third degree of freedom component is connected with the shoulder joint second degree of freedom component; wherein
The shoulder joint first degree-of-freedom component and the shoulder joint second degree-of-freedom component are connected through connecting lines, and the shoulder joint first degree-of-freedom component and the shoulder joint third degree-of-freedom component are connected through connecting lines;
the first degree of freedom assembly of the shoulder joint comprises:
the shoulder joint first-degree-of-freedom connecting piece is connected with the shoulder joint second-degree-of-freedom component;
the first-degree-of-freedom bracket of the shoulder joint is connected with the first-degree-of-freedom connecting piece of the shoulder joint;
the first-degree-of-freedom motor of the shoulder joint, the first-degree-of-freedom steering wheel of the shoulder joint and the first line wheel of the first degree-of-freedom of the shoulder joint are sequentially connected in series; wherein
The shoulder joint first degree-of-freedom motor is arranged on the shoulder joint first degree-of-freedom bracket;
the shoulder joint first-degree-of-freedom second wire wheel is connected with the shoulder joint first-degree-of-freedom support;
the second degree of freedom subassembly of shoulder joint includes:
the shoulder joint second degree-of-freedom bracket is connected with the shoulder joint first degree-of-freedom connecting piece;
the shoulder joint second degree of freedom motor, the shoulder joint second degree of freedom steering wheel and the shoulder joint second degree of freedom first reel are connected in series in sequence; wherein
The shoulder joint second degree-of-freedom motor is arranged on the shoulder joint second degree-of-freedom bracket;
the shoulder joint second degree-of-freedom first shaft and the shoulder joint second degree-of-freedom second shaft are respectively arranged on the shoulder joint second degree-of-freedom bracket, and the shoulder joint second degree-of-freedom first shaft and the shoulder joint second degree-of-freedom second shaft are connected with the shoulder joint first degree-of-freedom connecting piece;
the shoulder joint second degree of freedom second wire wheel and the shoulder joint second degree of freedom third wire wheel are sleeved on a shoulder joint second degree of freedom second shaft;
the third degree of freedom subassembly of shoulder joint includes:
the shoulder joint third degree-of-freedom connecting piece is connected with the shoulder joint second degree-of-freedom bracket;
the shoulder joint third degree of freedom bracket is connected with the shoulder joint third degree of freedom connecting piece;
the shoulder joint third degree of freedom motor, the shoulder joint third degree of freedom steering wheel and the shoulder joint third degree of freedom second reel are sequentially connected in series; wherein
The shoulder joint third degree of freedom motor is arranged on the shoulder joint third degree of freedom bracket;
the shoulder joint third degree of freedom first wire wheel is connected with the shoulder joint third degree of freedom bracket;
the elbow joint mechanism includes:
the left fixing plate and the right fixing plate are respectively connected with the third-degree-of-freedom bracket of the shoulder joint;
the first motor of the elbow joint, the first steering wheel of the elbow joint and the first reel of the elbow joint are sequentially connected in series; wherein
The first motor of the elbow joint is connected between the left fixing plate and the right fixing plate;
the elbow joint second motor, the elbow joint second steering wheel and the elbow joint second wire wheel are sequentially connected in series; wherein
The elbow joint second motor is connected between the left side fixing plate and the right side fixing plate;
the driven wire traveling wheel is arranged on the right side fixing plate;
the elbow joint freedom degree connecting piece is connected with the elbow joint second motor;
the third pulley of the elbow joint is arranged on the elbow joint freedom degree connecting piece;
one end of the extension rod is connected with the elbow joint third line wheel.
2. The mechanical arm driven by the multi-motor coupled wires according to claim 1, wherein the wire end of the first connecting wire starts from the first wire winding groove of the third degree of freedom first wire wheel with the shoulder joint fixed at the end part, goes to the first wire winding groove of the first degree of freedom first wire wheel driving the shoulder joint through the first wire winding groove of the second degree of freedom second wire wheel with the shoulder joint passively, then passes through a wire routing hole between the first wire winding groove of the first degree of freedom first wire wheel with the shoulder joint and the second wire winding groove of the first degree of freedom first wire wheel with the shoulder joint, then winds onto the second wire winding groove of the first degree of freedom first wire wheel with the shoulder joint, goes through the second wire winding groove of the second degree of freedom second wire wheel with the shoulder joint passively, and returns to the second wire winding groove of the third degree of freedom first wire wheel with the shoulder joint fixed at the end part;
two line ends of the first connecting line respectively penetrate out of the line passing holes of the first winding groove and the second winding groove on the first line wheel with the third degree of freedom of the end fixing shoulder joint, penetrate through the hollow screw installed on the second line clamping plate and then are fixed by using the line clamping head.
3. The multi-motor coupled line driving-based mechanical arm according to claim 2, wherein the line end of the second connecting line starts from the first winding groove of the end-fixed shoulder joint first degree-of-freedom second line wheel, goes to the first winding groove of the shoulder joint second degree-of-freedom first line wheel, then passes through a wiring hole between the first winding groove of the shoulder joint second degree-of-freedom first line wheel and the second winding groove of the shoulder joint second degree-of-freedom first line wheel, winds onto the second winding groove of the shoulder joint second degree-of-freedom first line wheel, and finally returns to the second winding groove of the end-fixed shoulder joint first degree-of-freedom second line wheel;
two line ends of the second connecting line respectively penetrate out of the line passing holes of the first wire winding groove and the second wire winding groove on the first-degree-of-freedom second line wheel of the end fixing shoulder joint, and then penetrate through a hollow screw installed on the first wire clamping plate and then are fixed with the line end of the second connecting line through the wire clamping head.
4. The mechanical arm based on multi-motor coupled line driving of claim 3, wherein the line end of the third connecting line starts from the third winding groove of the end-fixed shoulder joint first degree-of-freedom second reel, goes to the first winding groove of the shoulder joint third degree-of-freedom second reel through the first winding groove of the passive shoulder joint second degree-of-freedom third reel, then passes through the wiring hole between the first winding groove of the shoulder joint third degree-of-freedom second reel and the second winding groove of the shoulder joint third degree-of-freedom second reel, then winds onto the second winding groove of the shoulder joint third degree-of-freedom second reel, goes through the second winding groove of the passive shoulder joint second degree-of-freedom third reel, and returns to the fourth winding groove of the end-fixed shoulder joint first degree-of-freedom second reel;
two wire ends of the third connecting wire penetrate out of wire passing holes of a third wire winding groove and a fourth wire winding groove in the first-degree-of-freedom second wire wheel of the end fixing shoulder joint respectively, and then penetrate through a hollow screw installed on the first wire clamping plate and then are fixed by using a wire clamping head.
5. The mechanical arm based on multi-motor coupled line driving of claim 4, wherein the line end of the fourth connecting line starts from the first winding groove of the end-fixed elbow joint third line wheel, goes to the first winding groove of the driving elbow joint first line wheel through the first winding groove of the passive line-moving wheel, passes through the wiring hole between the first winding groove of the elbow joint first line wheel and the second winding groove of the elbow joint first line wheel, winds onto the second winding groove of the elbow joint first line wheel, and returns to the third winding groove of the unfixed elbow joint third line wheel through the second winding groove of the passive line-moving wheel;
two wire ends of the fourth connecting wire respectively penetrate out of wire passing holes of the first wire winding groove and the third wire winding groove on the end part fixed elbow joint third wire wheel, and then penetrate through a hollow screw installed on the third wire clamping plate to fix the wire end of the fourth connecting wire by using a wire clamping head.
6. The mechanical arm based on multi-motor coupled wire driving as claimed in claim 5, wherein the wire end of the fifth connecting wire starts from the second winding groove of the end-fixed elbow joint third wire wheel, goes to the first winding groove for driving the elbow joint second wire wheel, passes through the wire feeding hole between the first winding groove of the elbow joint second wire wheel and the second winding groove of the elbow joint second wire wheel, then winds onto the second winding groove of the elbow joint second wire wheel, and finally returns to the fourth winding groove of the end-fixed elbow joint third wire wheel;
two wire ends of the fifth connecting wire respectively penetrate out of wire passing holes of a second wire winding groove and a fourth wire winding groove on the end part fixed elbow joint third wire wheel, and then penetrate through a hollow screw installed on the third wire clamping plate to fix the wire end of the fifth connecting wire by using a wire clamping head.
CN201811246464.5A 2018-10-24 2018-10-24 Mechanical arm based on multi-motor coupling line driving Active CN109551469B (en)

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