CN110154010A - A kind of rope drive Snakelike mechanical arm carrying out rope pull measurement - Google Patents
A kind of rope drive Snakelike mechanical arm carrying out rope pull measurement Download PDFInfo
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- CN110154010A CN110154010A CN201910600028.1A CN201910600028A CN110154010A CN 110154010 A CN110154010 A CN 110154010A CN 201910600028 A CN201910600028 A CN 201910600028A CN 110154010 A CN110154010 A CN 110154010A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
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Abstract
A kind of rope drive Snakelike mechanical arm carrying out rope pull measurement, is related to rope and drives mechanical arm design field.Existing mechanical arm causes rope to drive super redundant mechanical arm kinetic stability poor in the presence of that can not obtain motion measurement signal and power measuring signal simultaneously.The present invention includes pedestal, mechanical arm module, multiple drive modules, more driving ropes and multiple tension sensors, mechanical arm module is arranged in front of pedestal in the outer plate surface of boxboard, multiple drive modules and multiple tension sensors are separately positioned in pedestal, each drive module, every driving rope and each tension sensor are arranged in a one-to-one correspondence respectively, one end of every driving rope is fixedly connected in mechanical arm module, the other end passes through the third cord hole in tension sensor corresponding thereto, and it is fixedly connected in its corresponding drive module, multiple drive modules are moved mechanical arm module by more driving cable tie and are swung.Present invention is mainly used for the motion measurement signals and power measuring signal of measurement mechanical arm.
Description
Technical field
The present invention relates to the mechanical system design fields that rope drives mechanical arm, and in particular to one kind can carry out rope pull measurement
Rope drive Snakelike mechanical arm.
Background technique
Rope drives super redundant mechanical arm and is made of multiple series connection joints universal joint, flexural pivot or flexible structure, and simultaneously using rope
Connection driving, for simulate organism tendon act on, have multiple redundant degree of freedom, be applicable to space station bay section, nuclear power station,
In the narrow constrained environment such as fuel tanker.Due to installing concentratedly the driving parts such as motor, retarder at pedestal, arm
The construction weight of body portion significantly reduces, while arm body portion does not have electronic component, can be directly exposed to vacuum, radiation,
In the adverse circumstances such as high/low temperature.According to simulated object feature, such mechanical arm be otherwise known as rope drive Snakelike mechanical arm, it is bionical as
Nose, bionical tentacle etc..
Traditional arm robot is mostly serial or parallel connection form, and the motion range of serial mechanism is larger, bearing capacity
Difference；The bearing capacity of parallel institution is strong, and precision is high, and motion range is small.Mechanism combines the movement characteristic of series connection with parallel institution,
Use rope as driving medium, all driving parts are integrated in base part, the reliability of mechanism can be greatly improved.
The single load bearing characteristic of pressure cannot be born since rope can only bear pulling force, rope number is generally higher than machine
The number of degrees of freedom of structure has redundant drive characteristic.There are mutual antagonism power between rope, the influence to kinetic stability compared with
Greatly, it is therefore desirable to such mechanism internal force of real-time measurement, but since rope is larger in range of stretch and contacts with numerous original parts, it is difficult to
Enough installation spaces are provided.Therefore, how will obtain motion measurement signal simultaneously at present and power measuring signal is always urgently
It solves the problems, such as.
Summary of the invention
The technical problem to be solved in the invention is: existing rope drives super redundant mechanical arm and exists and can not obtain simultaneously at present
Motion measurement signal and power measuring signal cause rope to drive the problem of super redundant mechanical arm kinetic stability difference, and then provide one kind
The rope that can carry out rope pull measurement drives Snakelike mechanical arm.
The present invention to solve above-mentioned technical problem the technical solution adopted is that:
It includes pedestal 1, mechanical arm module, multiple drive modules, more 2 and of driving rope that the rope, which drives Snakelike mechanical arm,
Multiple tension sensors 3, pedestal 1 are a cabinet, boxboard 1-1, the extension of tension sensor 3 before the front end of pedestal 1 is provided with
Third cord hole 21 is provided on column,
Mechanical arm module is arranged in front of pedestal in the outer plate surface of boxboard 1-1, multiple drive modules and multiple tension sensors 3
It is separately positioned in pedestal 1, drive module, driving rope 2 are identical with the quantity of tension sensor 3, and each drive module, every
Root driving rope 2 and each tension sensor 3 are arranged in a one-to-one correspondence respectively and constitute a driving unit；Every driving rope 2
One end be fixedly connected in mechanical arm module, the other end of the driving rope 2 passes through tension sensor 3 corresponding thereto
On third cord hole 21, and be fixedly connected in its corresponding drive module, multiple drive modules pass through more driving ropes 2
Mechanical arm module is driven to swing.
Further, the rope drives Snakelike mechanical arm and further includes motor mounting plate 11, sensor fixation plate 12, first leads
Line plate 13,14, two cross-brace beams 22 of the second wire guide plate and Duo Gen support column 15, boxboard 1- before the second wire guide plate 14 is embedded in
In 1 plate face, motor mounting plate 11, sensor fixation plate 12 and the first wire guide plate 13 are sequentially disposed side by side in pedestal 1, motor
It is fixedly connected between mounting plate 11 and sensor fixation plate 12 by the more support columns 15 being circumferentially uniformly arranged, sensor is fixed
It is fixedly connected between plate 12 and the first wire guide plate 13 by the more support columns 15 being circumferentially uniformly arranged, the first wire guide plate 13 and the
It is fixedly connected between two wire guide plates 14 by the more support columns 15 being circumferentially uniformly arranged, motor mounting plate 11 and sensor are fixed
Plate 12 is supported on the lower boxboard of pedestal 1 by a cross-brace beam 22 respectively.
Further, each drive module includes driving motor 4, shaft coupling 5, lead screw 7, guide rail 8, nut slider 9 and axis
Seat 10 is held, multiple first through hole are provided on motor mounting plate 11, driving motor 4 is fixedly mounted on the outer panel of motor mounting plate 11
On face, bearing block 10 is fixedly mounted in the inside plate face of sensor fixation plate 12；The output shaft of driving motor 4 is pacified across motor
First through hole in loading board 11 is fixedly connected with one end of lead screw 7 by shaft coupling 5, and the other end of lead screw 7 is arranged in bearing block
In the inner ring of bearing in 10, one end of guide rail 8 is fixedly mounted in the inside plate face of motor mounting plate 11, guide rail 8 it is another
End be fixedly mounted in the inside plate face of sensor fixation plate 12, nut slider 9 is screwed on lead screw 7, and nut slider 9 with lead
Rail 8 is slidably connected.
Further, each drive module further includes a baffle 6, and bearing is provided in baffle 6, and baffle 6 is sleeved on silk
The driving end of thick stick 7 is simultaneously rotatablely connected with lead screw 7, and the lower end of baffle 6 is fixedly connected on guide rail.
Further, the mechanical arm module includes that multistage vertebra section 16 and multiple universal joints 17, multistage vertebra section 16 are connected
It is arranged, is rotatablely connected between adjacent two-stage vertebra section 16 by a universal joint 17, final stage vertebra section passes through one 17 turns of universal joint
It is dynamic to be connected on the second wire guide plate 14；Multiple driving units are divided equally into multiple driving groups, the number and vertebra section 16 of driving group
Number it is identical, and each driving group is arranged in a one-to-one correspondence with level-one vertebra section 16, and each driving group drives corresponding level-one vertebra section
16 movements.
Further, every grade of vertebra section 16 includes vertebra section top plate 16-1, vertebra section bottom plate 16-2, more support rod 16-3 and multiple
Fastener 16-4, vertebra section top plate 16-1 and vertebra section bottom plate 16-2 are plectane, are along the circumferential direction provided on vertebra section top plate 16-1
Multiple second through-holes are along the circumferential direction provided with multiple third through-holes, vertebra section top plate 16-1 and vertebra section bottom on vertebra section bottom plate 16-2
It is fixedly connected between plate 16-2 by the more support rod 16-3 being circumferentially uniformly arranged, multiple fastener 16-4 are along vertebra section bottom
The circumferencial direction of plate 16-2 is evenly arranged on vertebra section bottom plate 16-2；The wherein driving in the number of fastener 16-4 and each driving group
The radical of rope 2 is identical, and every driving rope 2 is correspondingly connected with a fastener 16-4.
Further, the fastener 16-4 is tapping bolt and clamp nut.
Further, it further includes multiple fixing rack for sensor 18 that the rope, which drives Snakelike mechanical arm, and each sensor is fixed
One tension sensor 3 is installed, multiple fixing rack for sensor 18 are fixedly mounted on the outer panel of sensor fixation plate 12 on frame 18
On face.
Further, first cord hole 19 is provided on the upper cross plate of each fixing rack for sensor 18, it is solid in sensor
On the fixed board 12 and lower section in each fixing rack for sensor 18 has second cord hole 20；Edge on first wire guide plate 13
Circumferencial direction is uniformly provided with multiple fourth holes, is along the circumferential direction uniformly provided with multiple fifth holes on the second wire guide plate 14；Often
One end of driving rope 2 in a driving group is connected on the fastener 16-4 of vertebra section 16 corresponding thereto, the driving rope
The other end of rope 2 sequentially passes through second through-hole and vertebra section bottom plate of the next stage vertebra section on the vertebra section top plate 16-1 into final stage vertebra section
Third through-hole on 16-2, and sequentially pass through the fifth hole on the second wire guide plate 14, the fourth hole on the first wire guide plate 13,
First cord hole 19, third cord hole 21 and the second cord hole 20, are then connected on the nut slider 9 in corresponding drive module.
The beneficial effect that the present invention generates compared with prior art is:
1, the motion measurement signal and power measuring signal that rope drives Snakelike mechanical arm are measured using tension sensor, may be implemented
Mechanism moves the feedback and control with pulling force to rope, and the speed of rope movement is calculated by the encoder feedback of dc motor
It arrives, and rope pull is measured using triangle dynamometry principle indirectly, the pulling force of rope is by tension sensor and corresponding rope section angle
It is calculated, tension sensor range can be less than rope pull range；
2, driving unit hierarchical layout, can be such that identical component installs concentratedly, and compact overall structure can be utmostly
Ground reduces the volume of pedestal, saves space, is easily installed and debugs, and overall structure is simple, avoid installing tension sensor
In arm body portion, increase its reliability；
3, the present invention pulls driving rope using lead screw mould group, and motion control accuracy improves 30%, and exports biggish
Pulling force；
4, the present invention reduces the number for the cord hole that rope passes through to the greatest extent, and reducing influences caused by frictional force.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is the partial enlarged view in Fig. 1 at I；
Fig. 3 is the partial enlarged view in Fig. 1 at II；
Fig. 4 is the structural schematic diagram of drive module Yu tension sensor integral arrangement；
Fig. 5 is the structural schematic diagram of drive module；
Fig. 6 is the side view of Fig. 5；
Fig. 7 is the schematic diagram that plate face powers on machine installation on the outside of motor mounting plate；
Fig. 8 is the schematic diagram of sensor fixation plate interior plate spherical bearing seat installation；
Fig. 9 is the schematic diagram that plate face fixing rack for sensor is installed on the outside of sensor fixation plate；
Figure 10 is the partial enlarged view in Fig. 9 at III；
Figure 11 is the structural schematic diagram that tension sensor is fixed on fixing rack for sensor；
Figure 12 is tension measurement schematic diagram.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments:
Specific embodiment 1: as shown in Figure 1 and Figure 4, in present embodiment, it includes base that the rope, which drives Snakelike mechanical arm,
Seat 1, mechanical arm module, multiple drive modules, more driving ropes 2 and multiple tension sensors 3, pedestal 1 are a cabinet, base
The front end of seat 1 is provided with preceding boxboard 1-1, and third cord hole 21 is provided on the extended column of tension sensor 3, and the setting of mechanical arm module exists
Before pedestal in the outer plate surface of boxboard 1-1, multiple drive modules and multiple tension sensors 3 are separately positioned in pedestal 1, drive mould
Block, driving rope 2 are identical with the quantity of tension sensor 3, and each drive module, every driving rope 2 and each pulling force pass
Sensor 3 is arranged in a one-to-one correspondence respectively and constitutes a driving unit, and inside and outside two layers of the annular of multiple driving units point is evenly arranged；
Every driving rope 2 one end be fixedly connected in mechanical arm module, it is described driving rope 2 the other end pass through with
Third cord hole 21 in its corresponding tension sensor 3, and be fixedly connected in its corresponding drive module, multiple drivings
Module drives mechanical arm module to swing by more driving ropes 2, and tension sensor 3 is for measuring driving 2 drawing process of rope
In tension.
The present invention drives the motion measurement signal and power measuring signal of Snakelike mechanical arm using tension sensor measurement rope, can be with
Implementation mechanism drives the speed of rope movement by the coding of dc motor the feedback and control of driving rope movement and pulling force
Device feedback is calculated, and the pulling force of rope is driven to be obtained by tension sensor and corresponding rope section angle calcu-lation；
Wherein driving unit hierarchical layout can be such that identical component installs concentratedly, save space, be easily installed and adjust
Examination, and overall structure is simple, it is highly reliable.
Specific embodiment 2: as shown in figure 4, it further includes motor that the rope, which drives Snakelike mechanical arm, in present embodiment
Mounting plate 11, sensor fixation plate 12, the first wire guide plate 13,14, two cross-brace beams 19 of the second wire guide plate and Duo Gen support
Column 15；
Before second wire guide plate 14 is embedded in the plate face of boxboard 1-1, to allow driving rope vertically into mechanical arm as far as possible
Module when preventing mechanical arm block motion, drives the angle of rope and mechanical arm tail end too small and is stuck,
Motor mounting plate 11, sensor fixation plate 12 and the first wire guide plate 13 are sequentially disposed side by side in pedestal 1, motor peace
It is fixedly connected between loading board 11 and sensor fixation plate 12 by the more support columns 15 being circumferentially uniformly arranged, sensor fixation plate
12 and first are fixedly connected between wire guide plate 13 by the more support columns 15 being circumferentially uniformly arranged, the first wire guide plate 13 and second
It is fixedly connected between wire guide plate 14 by the more support columns 15 being circumferentially uniformly arranged, motor mounting plate 11 and sensor fixation plate
12 are supported on the lower boxboard of pedestal 1 by a cross-brace beam 19 respectively；
Drive module is separated into mover layer A to motor mounting plate 11 and driving layer B, mover layer A are in motor mounting plate 11
Outside, driving layer B be between motor mounting plate 11 and sensor fixation plate 12, sensor fixation plate 12 and the first wire guide plate
Measurement layer C is formed between 13, multiple tension sensors 3 are evenly arranged in measurement layer C, the first wire guide plate 13 and the second wire guide plate 14 it
Between form conductor layer D, conductor layer drives one end of rope 2 to be connected to drive for guiding driving rope to mechanical arm arm body portion
On dynamic layer B, the other end of driving rope 2 sequentially passes through measurement layer C and conductor layer D is connected in mechanical arm module.
Other compositions and connection type are same as the specific embodiment one.
Specific embodiment 3: as shown in Fig. 4 to Fig. 8, in present embodiment, each drive module include driving motor 4,
Shaft coupling 5, lead screw 7, guide rail 8, nut slider 9 and bearing block 10；
As shown in fig. 7, multiple first through hole that inside and outside two layers of annular is evenly arranged are provided on motor mounting plate 11, multiple drives
Dynamic motor 4 divides inside and outside two layers of annular to be uniformly fixedly mounted in the outside plate face of motor mounting plate 11；
As shown in figure 8, multiple bearing blocks 10 divide inside and outside two layers of annular to be uniformly fixedly mounted on the interior of sensor fixation plate 12
In lateral plates, and driving motor 4, the first through hole on motor mounting plate 11 and bearing block 10 are arranged in a one-to-one correspondence；
As shown in figure 4, the first of corresponding setting of the output shaft of driving motor 4 on motor mounting plate 11 is logical
Hole, and be fixedly connected with one end of lead screw 7 by shaft coupling 5, the axis in corresponding bearing block 10 is arranged in the other end of lead screw 7
In the inner ring held, one end of guide rail 8 is fixedly mounted in the inside plate face of motor mounting plate 11, the fixed peace of the other end of guide rail 8
In the inside plate face of sensor fixation plate 12；
As shown in Figure 5 and Figure 6, nut slider 9 is screwed on lead screw 7, and nut slider 9 is slidably connected with guide rail 8.
The present invention pulls driving rope using lead screw mould group, and motion control accuracy improves 30%, and exports biggish drawing
Power.
Other compositions and connection type are identical with embodiment two.
Specific embodiment 4: as shown in figure 5, each drive module further includes a baffle 6, institute in present embodiment
The baffle 6 stated guarantees its straightness to support lead screw；
Bearing is provided in baffle 6, baffle 6 is sleeved on the driving end of lead screw 7 and is rotatablely connected with lead screw 7, under baffle 6
End is fixedly connected on guide rail.
Other compositions and connection type are the same as the specific implementation mode 3.
Specific embodiment 5: as shown in Figures 2 and 3, in present embodiment, the mechanical arm module includes multistage vertebra
Section 16 and multiple universal joints 17, multistage vertebra section 16 include first order vertebra section, second level vertebra section, third level vertebra section ... final stage vertebra
Section, multistage vertebra section 16 are arranged in series by universal joint 17, are connected between adjacent two-stage vertebra section 16 by a rotation of universal joint 17
It connects, final stage vertebra section is rotatably connected on the second wire guide plate 14 by a universal joint 17；
Multiple driving units are divided equally into multiple driving groups, and the number of driving group is identical as the number of vertebra section 16, and every
A driving group is arranged in a one-to-one correspondence with a vertebra section 16, and each driving group drives corresponding level-one vertebra section 16 to move.
Other compositions and connection type are identical with embodiment two.
Specific embodiment 6: as shown in Figures 2 and 3, in present embodiment, every grade of vertebra section 16 includes vertebra section top plate 16-
1, vertebra section bottom plate 16-2, more support rod 16-3 and multiple fastener 16-4, vertebra section top plate 16-1 and vertebra section bottom plate 16-2 are
Plectane is along the circumferential direction provided with multiple second through-holes on vertebra section top plate 16-1, along the circumferential direction opens on vertebra section bottom plate 16-2
There are multiple third through-holes, passes through the more support rod 16-3 being circumferentially uniformly arranged between vertebra section top plate 16-1 and vertebra section bottom plate 16-2
It is fixedly connected, multiple fastener 16-4 are evenly arranged on vertebra section bottom plate 16-2 along the circumferencial direction of vertebra section bottom plate 16-2；
As shown in Fig. 2, wherein the number of fastener 16-4 is identical as the driving radical of rope 2 in each driving group, and
Every driving rope 2 is correspondingly connected with a fastener 16-4.
Other compositions and connection type are identical as specific embodiment five.
Specific embodiment 7: as shown in Fig. 2, the fastener 16-4 is tapping bolt and pressure in present embodiment
Tight nut.
Other compositions and connection type are identical as specific embodiment six.
Specific embodiment 8: as shown in figures 9 and 11, in present embodiment, the rope drives Snakelike mechanical arm and also wraps
Multiple fixing rack for sensor 18 are included, a tension sensor 3, multiple fixing rack for sensor are installed on each fixing rack for sensor 18
18 are uniformly fixedly mounted in the outside plate face of sensor fixation plate 12 by inside and outside two layers of the annular of screw point.
Other compositions and connection type are identical as specific embodiment seven.
Specific embodiment 9: as shown in Figure 10, Figure 11 and Figure 12, in present embodiment, in each fixing rack for sensor
First cord hole 19 is provided on 18 upper cross plate, on sensor fixation plate 12 and under each fixing rack for sensor 18
Side has second cord hole 20；
As shown in figure 4, multiple fourth holes are along the circumferential direction uniformly provided on the first wire guide plate 13, on the second wire guide plate 14
Along the circumferential direction uniformly it is provided with multiple fifth holes；
As shown in Fig. 2, one end of the driving rope 2 in each driving group is connected to the fastening of vertebra section 16 corresponding thereto
On part 16-4, the other end of the driving rope 2 sequentially passes through next stage vertebra section on the vertebra section top plate 16-1 into final stage vertebra section
The second through-hole and vertebra section bottom plate 16-2 on third through-hole, and sequentially pass through the fifth hole on the second wire guide plate 14, first
Then fourth hole, the first cord hole 19, third cord hole 21 and the second cord hole 20 on wire guide plate 13 are connected to corresponding driving mould
On nut slider 9 on block.
Rope pull is measured using triangle dynamometry principle indirectly, the pulling force of rope is pressed from both sides by tension sensor and corresponding rope section
Angle is calculated, and tension sensor range can be less than rope pull range；And the present invention reduces the cord hole that rope passes through to the greatest extent
Number, reduce frictional force caused by influence.
Other compositions and connection type are identical as specific embodiment eight.
The present invention is described below with reference to specific embodiment:
The rope drive Snakelike mechanical arm include pedestal 1, mechanical arm module, 18 drive modules, 18 driving ropes 2,
18 tension sensors, 3,18 fixing rack for sensor 18, motor mounting plate 11, sensor fixation plate 12, the first wire guide plate 13,
The second cross-brace beam 19 of wire guide plate 14, two and Duo Gen support column 15,
Before second wire guide plate 14 is embedded in the plate face of boxboard 1-1, motor mounting plate 11, sensor fixation plate 12 and first
Wire guide plate 13 is sequentially disposed side by side in pedestal 1, the branch being circumferentially uniformly arranged by more respectively between two adjacent plates
Dagger 15 is fixedly connected, solid by the more support columns 15 being circumferentially uniformly arranged between the first wire guide plate 13 and the second wire guide plate 14
Fixed connection, motor mounting plate 11 and sensor fixation plate 12 are supported on the nowel of pedestal 1 by a cross-brace beam 19 respectively
On plate；
Each drive module includes driving motor 4, shaft coupling 5, baffle 6, lead screw 7, guide rail 8, nut slider 9 and bearing block
10；18 first through hole that inside and outside two layers of annular is evenly arranged, 12 first through hole of outer layer, internal layer are provided on motor mounting plate 11
6 first through hole；The outside plate face that 18 driving motors 4 divide inside and outside two layers of annular to be uniformly fixedly mounted on motor mounting plate 11
On, 12 driving motors of outer layer, 6 driving motors of internal layer；Inside and outside two layers of the annular of 18 bearing blocks point is uniformly fixedly mounted on biography
In the inside plate face of sensor fixed plate 12,12 bearing blocks of outer layer, 6 bearing blocks of internal layer；Driving motor 4, motor mounting plate 11
On first through hole and bearing block 10 be arranged in a one-to-one correspondence, the output shaft of driving motor 4 pass through it is on motor mounting plate 11 and its
Corresponding through-hole, and be fixedly connected with one end of lead screw 7 by shaft coupling 5, the other end of lead screw 7 is arranged in corresponding bearing block
In the inner ring of bearing in 10, one end of guide rail 8 is fixedly mounted in the inside plate face of motor mounting plate 11, guide rail 8 it is another
End be fixedly mounted in the inside plate face of sensor fixation plate 12, nut slider 9 is screwed on lead screw 7, and nut slider 9 with lead
Rail 8 is slidably connected；Bearing is provided in baffle 6, baffle 6 is sleeved on the driving end of lead screw 7 and is rotatablely connected with lead screw 7, baffle 6
Lower end be fixedly connected on guide rail 8；
18 fixing rack for sensor 18 are uniformly fixedly mounted on sensor fixation plate 12 by inside and outside two layers of the annular of screw point
Outside plate face on, 12 fixing rack for sensor of outer layer, 6 fixing rack for sensor of internal layer are installed on each fixing rack for sensor
One tension sensor；
First cord hole 19 is provided on the upper cross plate of each fixing rack for sensor 18, on sensor fixation plate 12 and
Lower section in each fixing rack for sensor 18 has second cord hole 20, is provided on the extended column of tension sensor 3
It is along the circumferential direction uniformly provided with 18 through-holes respectively on third cord hole 21, the first wire guide plate 13 and the second wire guide plate 14；
Mechanical arm module is rotatably connected on the second wire guide plate 14 by universal joint 17, and the mechanical arm module is by 6
Grade vertebra section 16 is connected in series, and is rotatablely connected between adjacent two-stage vertebra section 16 by a universal joint 17, entire mechanical arm module
With 12 freedom degrees, every grade of vertebra section 16 includes that vertebra section top plate 16-1, vertebra section bottom plate 16-2, more support rod 16-3 and 3 are tight
Firmware 16-4, vertebra section top plate 16-1 and vertebra section bottom plate 16-2 are plectane, are led between vertebra section top plate 16-1 and vertebra section bottom plate 16-2
The support rod 16-3 that three are circumferentially uniformly arranged is crossed to be fixedly connected, it is along the circumferential direction uniform respectively on vertebra section top plate 16-1
18 the second through-holes are provided with, along the circumferential direction have 15 third through-holes on vertebra section bottom plate 16-2, wherein every 5 thirds
Through-hole is one group, is divided into three groups, and a fastener 16-4, one end and one of every driving rope are provided between every group of through-hole
A fastener is fixedly connected, and every grade of vertebra section 16 is driven by three uniformly distributed driving ropes, and entire mechanical arm module is driven by 18 altogether
The driving of running rope rope, the vertebra section top plate 16-1 and vertebra section bottom plate 16-2 for driving the other end of rope to be each passed through in next stage vertebra section 16
On through-hole, and sequentially pass through the second cord hole 20, third cord hole 21, the first cord hole 19, the through-hole on the first wire guide plate 13 and
Then through-hole on two wire guide plates 14 is connected on the nut slider 9 in corresponding drive module；
Specifically: 6 grades of vertebra sections 16 are respectively first order vertebra section, second level vertebra section, third level vertebra section, fourth stage vertebra section, the
Pyatyi vertebra section and the 6th grade of vertebra section (final stage vertebra section), 3 fastener 16-4 on first order vertebra section draw a driving rope respectively
Rope 2, amounts to 3 driving ropes, and 3 driving ropes sequentially pass through vertebra section top plate 16-1 and vertebra section bottom on the vertebra section of the second level respectively
The through-hole on vertebra section top plate 16-1 on through-hole, third level vertebra section and vertebra section bottom plate 16-2 on plate 16-2, on fourth stage vertebra section
Vertebra section top plate 16-1 and vertebra section bottom plate 16-2 on through-hole, the vertebra section top plate 16-1 on level V vertebra section and vertebra section bottom plate 16-2
On the through-hole, through-hole on the vertebra section top plate 16-1 on the 6th grade of vertebra section and vertebra section bottom plate 16-2, logical on the second wire guide plate 14
Hole, the through-hole on the first wire guide plate 13, the first cord hole 19, third cord hole 21 and the second cord hole 20, are finally connected to one of them
On nut slider 9 in drive module；
3 fastener 16-4 on the vertebra section of the second level draw a driving rope 2 respectively, total 3 driving ropes, and 3
Driving rope sequentially passes through through-hole, fourth stage vertebra on vertebra section top plate 16-1 and vertebra section bottom plate 16-2 on third level vertebra section respectively
The through-hole on vertebra section top plate 16-1 and vertebra section bottom plate 16-2, vertebra section top plate 16-1 and vertebra section bottom plate on level V vertebra section on section
The through-hole on vertebra section top plate 16-1 on through-hole, the 6th grade of vertebra section and vertebra section bottom plate 16-2 on 16-2, on the second wire guide plate 14
Through-hole, the through-hole on the first wire guide plate 13, the first cord hole 19, third cord hole 21 and the second cord hole 20, be finally connected to another
On a nut slider 9；
3 fastener 16-4 on third level vertebra section draw a driving rope 2 respectively, total 3 driving ropes, and 3
Driving rope sequentially passes through through-hole, level V vertebra on vertebra section top plate 16-1 and vertebra section bottom plate 16-2 on fourth stage vertebra section respectively
The through-hole on vertebra section top plate 16-1 and vertebra section bottom plate 16-2, vertebra section top plate 16-1 and vertebra section bottom plate on the 6th grade of vertebra section on section
Through-hole on 16-2, the through-hole on the second wire guide plate 14, the through-hole on the first wire guide plate 13, the first cord hole 19, third cord hole 21
With the second cord hole 20, finally it is connected on another nut slider 9；
And so on, total 18 driving ropes each are attached to respectively in 18 drive modules.
Claims (9)
1. the rope that one kind can carry out rope pull measurement drives Snakelike mechanical arm, it is characterised in that: it includes pedestal (1), mechanical arm
Module, multiple drive modules, more driving ropes (2) and multiple tension sensors (3), pedestal (1) are a cabinet, pedestal
(1) front end is provided with preceding boxboard (1-1), and third cord hole (21) are provided on the extended column of tension sensor (3)；
Mechanical arm module is arranged before pedestal in the outer plate surface of boxboard (1-1), multiple drive modules and multiple tension sensors (3)
It is separately positioned in pedestal (1), drive module, driving rope (2) are identical with the quantity of tension sensor (3), and each driving
Module, every driving rope (2) and each tension sensor (3) are arranged in a one-to-one correspondence respectively and constitute a driving unit；
Every driving rope (2) one end be fixedly connected in mechanical arm module, it is described driving rope (2) the other end pass through with
Third cord hole (21) on its corresponding tension sensor (3), and be fixedly connected in its corresponding drive module, it is multiple
Drive module drives mechanical arm module to swing by more driving ropes (2).
2. rope according to claim 1 drives Snakelike mechanical arm, it is characterised in that: the rope drives Snakelike mechanical arm and further includes
Motor mounting plate (11), sensor fixation plate (12), the first wire guide plate (13), the second wire guide plate (14), two cross-brace beams
(22) He Duogen support column (15), the second wire guide plate (14) are embedded in the plate face of preceding boxboard (1-1), motor mounting plate (11),
Sensor fixation plate (12) and the first wire guide plate (13) are sequentially disposed side by side in pedestal (1), motor mounting plate (11) and sensing
It is fixedly connected between device fixed plate (12) by the more support columns (15) being circumferentially uniformly arranged, sensor fixation plate (12) and the
It is fixedly connected between one wire guide plate (13) by the more support columns (15) being circumferentially uniformly arranged, the first wire guide plate (13) and second
It is fixedly connected between wire guide plate (14) by the more support columns (15) being circumferentially uniformly arranged, motor mounting plate (11) and sensor
Fixed plate (12) is supported on the lower boxboard of pedestal (1) by a cross-brace beam (22) respectively.
3. rope according to claim 2 drives Snakelike mechanical arm, it is characterised in that: each drive module includes driving motor
(4), shaft coupling (5), lead screw (7), guide rail (8), nut slider (9) and bearing block (10) are provided on motor mounting plate (11) more
A first through hole, driving motor (4) are fixedly mounted in the outside plate face of motor mounting plate (11), and bearing block (10) is fixedly mounted
In the inside plate face of sensor fixation plate (12)；
One end that the output shaft of driving motor (4) passes through first through hole and lead screw (7) on motor mounting plate (11) passes through shaft coupling
Device (5) is fixedly connected, and the other end of lead screw (7) is arranged in the inner ring of the bearing in bearing block (10), and one end of guide rail (8) is solid
In the inside plate face of motor mounting plate (11), the other end of guide rail (8) is fixedly mounted on sensor fixation plate (12) for Dingan County
Inside plate face on, nut slider (9) is screwed on lead screw (7), and nut slider (9) is slidably connected with guide rail (8).
4. rope according to claim 3 drives Snakelike mechanical arm, it is characterised in that: each drive module further includes a baffle
(6), bearing is provided in baffle (6), baffle (6) is sleeved on the driving end of lead screw (7) and is rotatablely connected with lead screw (7), baffle
(6) lower end is fixedly connected on guide rail (8).
5. rope according to claim 2 drives Snakelike mechanical arm, it is characterised in that: the mechanical arm module includes multistage vertebra
Section (16) and multiple universal joints (17), multistage vertebra section (16) are arranged in series, and pass through one ten thousand between adjacent two-stage vertebra section (16)
Xiang Jie (17) rotation connection, final stage vertebra section are rotatably connected on the second wire guide plate (14) by a universal joint (17)；
Multiple driving units are divided equally into multiple driving groups, and the number of driving group is identical as the number of vertebra section (16), and each
Driving group is arranged in a one-to-one correspondence with level-one vertebra section (16), and each driving group drives corresponding level-one vertebra section (16) movement.
6. rope according to claim 5 drives Snakelike mechanical arm, it is characterised in that: every grade of vertebra section (16) includes vertebra section top plate
(16-1), vertebra section bottom plate (16-2), more support rods (16-3) and multiple fasteners (16-4), vertebra section top plate (16-1) and vertebra section
Bottom plate (16-2) is plectane, and multiple second through-holes are along the circumferential direction provided on vertebra section top plate (16-1), in vertebra section bottom plate
It is along the circumferential direction provided with multiple third through-holes on (16-2), passes through more between vertebra section top plate (16-1) and vertebra section bottom plate (16-2)
The support rod (16-3) being circumferentially uniformly arranged is fixedly connected, circumference of multiple fasteners (16-4) along vertebra section bottom plate (16-2)
Direction is evenly arranged on vertebra section bottom plate (16-2)；
The radical of driving rope (2) wherein in the number with each driving group of fastener (16-4) is identical, and every driving rope
Rope (2) is correspondingly connected with a fastener (16-4).
7. rope according to claim 6 drives Snakelike mechanical arm, it is characterised in that: the fastener (16-4) is aperture spiral shell
Bolt and clamp nut.
8. rope according to claim 7 drives Snakelike mechanical arm, it is characterised in that: the rope drives Snakelike mechanical arm and further includes
Multiple fixing rack for sensor (18), a tension sensor (3) is installed on each fixing rack for sensor (18), and multiple sensors are solid
Determine frame (18) to be fixedly mounted in the outside plate face of sensor fixation plate (12).
9. rope according to claim 8 drives Snakelike mechanical arm, it is characterised in that: in the upper of each fixing rack for sensor (18)
First cord hole (19) is provided on transverse slat, on sensor fixation plate (12) and under each fixing rack for sensor (18)
Side has second cord hole (20)；
Along the circumferential direction uniformly it is provided with multiple fourth holes on first wire guide plate (13), on the second wire guide plate (14) along the circumferential direction
Uniformly it is provided with multiple fifth holes；
One end of driving rope (2) in each driving group is connected to the fastener (16-4) of vertebra section (16) corresponding thereto
On, the other end of driving rope (2) sequentially passes through next stage vertebra section on the vertebra section top plate (16-1) into final stage vertebra section
Third through-hole on second through-hole and vertebra section bottom plate (16-2), and sequentially pass through the fifth hole on the second wire guide plate (14),
Fourth hole, the first cord hole (19), third cord hole (21) and the second cord hole (20) on one wire guide plate (13), are then connected to phase
On nut slider (9) in the drive module answered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910600028.1A CN110154010A (en) | 2019-07-04 | 2019-07-04 | A kind of rope drive Snakelike mechanical arm carrying out rope pull measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910600028.1A CN110154010A (en) | 2019-07-04 | 2019-07-04 | A kind of rope drive Snakelike mechanical arm carrying out rope pull measurement |
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| Publication Number | Publication Date |
|---|---|
| CN110154010A true CN110154010A (en) | 2019-08-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910600028.1A Withdrawn CN110154010A (en) | 2019-07-04 | 2019-07-04 | A kind of rope drive Snakelike mechanical arm carrying out rope pull measurement |
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| Country | Link |
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| CN (1) | CN110154010A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249367A (en) * | 2020-10-13 | 2021-01-22 | 哈尔滨工业大学 | Minor planet probe maneuvering inspection device |
| CN112677142A (en) * | 2021-01-14 | 2021-04-20 | 中铁工程装备集团有限公司 | Snakelike arm connection structure and snakelike arm robot |
| CN112975925A (en) * | 2021-02-08 | 2021-06-18 | 西安电子科技大学 | Rope-driven snakelike mechanical arm motion data processing method containing rope hole gaps |
| CN113829386A (en) * | 2021-08-26 | 2021-12-24 | 北京精密机电控制设备研究所 | Continuous type arm that charges with scalable degree of freedom |
| CN114347007A (en) * | 2022-02-22 | 2022-04-15 | 青岛科技大学 | Driving device for rope-driven snake-shaped mechanical arm |
| CN114406995A (en) * | 2022-01-29 | 2022-04-29 | 中国航空制造技术研究院 | Snake-shaped mechanical arm and stable working method |
| CN114770603A (en) * | 2022-05-17 | 2022-07-22 | 上海交通大学 | Super-redundancy mechanical arm test system |
| CN115890673A (en) * | 2022-11-23 | 2023-04-04 | 哈尔滨工业大学（深圳） | Whole arm force sensing method and device of rope-driven flexible mechanical arm and storage medium |
| CN112720561B (en) * | 2020-12-30 | 2024-03-12 | 沈阳新松机器人自动化股份有限公司 | Super-redundancy rope-driven robot with square modularized force-position double closed-loop control |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249367A (en) * | 2020-10-13 | 2021-01-22 | 哈尔滨工业大学 | Minor planet probe maneuvering inspection device |
| CN112720561B (en) * | 2020-12-30 | 2024-03-12 | 沈阳新松机器人自动化股份有限公司 | Super-redundancy rope-driven robot with square modularized force-position double closed-loop control |
| CN112677142B (en) * | 2021-01-14 | 2022-08-02 | 中铁工程装备集团有限公司 | Snakelike arm connection structure and snakelike arm robot |
| CN112677142A (en) * | 2021-01-14 | 2021-04-20 | 中铁工程装备集团有限公司 | Snakelike arm connection structure and snakelike arm robot |
| CN112975925A (en) * | 2021-02-08 | 2021-06-18 | 西安电子科技大学 | Rope-driven snakelike mechanical arm motion data processing method containing rope hole gaps |
| CN113829386A (en) * | 2021-08-26 | 2021-12-24 | 北京精密机电控制设备研究所 | Continuous type arm that charges with scalable degree of freedom |
| CN114406995A (en) * | 2022-01-29 | 2022-04-29 | 中国航空制造技术研究院 | Snake-shaped mechanical arm and stable working method |
| CN114406995B (en) * | 2022-01-29 | 2024-07-09 | 中国航空制造技术研究院 | Snake-shaped mechanical arm and stable working method |
| CN114347007A (en) * | 2022-02-22 | 2022-04-15 | 青岛科技大学 | Driving device for rope-driven snake-shaped mechanical arm |
| CN114770603A (en) * | 2022-05-17 | 2022-07-22 | 上海交通大学 | Super-redundancy mechanical arm test system |
| CN114770603B (en) * | 2022-05-17 | 2024-03-29 | 上海交通大学 | Super redundant arm test system |
| CN115890673A (en) * | 2022-11-23 | 2023-04-04 | 哈尔滨工业大学（深圳） | Whole arm force sensing method and device of rope-driven flexible mechanical arm and storage medium |
| CN115890673B (en) * | 2022-11-23 | 2024-09-06 | 哈尔滨工业大学（深圳） | Whole arm strength sensing method and device of rope-driven flexible mechanical arm and storage medium |
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