CN113084863A

CN113084863A - Composite joint simulating freedom degree of human wrist and motion method

Info

Publication number: CN113084863A
Application number: CN202110297210.1A
Authority: CN
Inventors: 胡灵煊; 刘志斌; 王国成; 俞新荣; 裴翔
Original assignee: Hangzhou Guochen Robot Technology Co ltd
Current assignee: Hangzhou Guochen Robot Technology Co ltd
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2021-07-09

Abstract

The invention discloses a composite joint with anthropomorphic wrist freedom and a motion method, comprising the following steps: the spherical hinge comprises a base, a ball head and a spherical hinge rod, the base is fixed above the rotary platform and can rotate on the rotary platform, the ball head is positioned in the base, the spherical hinge rod extends to the outside of the base, the first motor is packaged in the rotary platform, and the first motor is used for driving the Z axis of the spherical hinge to rotate; one end of the angle adjusting mechanism is fixedly connected to the top of the spherical hinge rod, the other end of the angle adjusting mechanism is fixedly connected to the bottom end of the side wall of the base, and the angle adjusting mechanism adjusts the rotating direction of the spherical hinge rod by changing the length. The composite joint with the anthropomorphic wrist freedom degree is simple in structure, complex gear set transmission is not needed, and the directional rotation of the spherical hinge is realized through the combination of the spherical hinge and the traction rope.

Description

Composite joint simulating freedom degree of human wrist and motion method

Technical Field

The invention belongs to the field of machinery, and particularly relates to a composite joint simulating freedom degree of a human wrist and a motion method.

Background

Industrial robots are automation devices having high automation degree and work efficiency, and their work is controlled by a preset program to perform the same operation in a fixed manner, and are widely used in the fields of automobile manufacturing, cutting, die casting, die painting, polishing, cargo handling, packaging, stacking, and the like. For repeated work, the use of the industrial robot can greatly reduce the labor intensity of workers and improve the production efficiency.

With the development of robots, people have higher requirements on the composite joints of the robots, the accuracy needs to be improved, the application fields of the robots are expanded to medicine, and the like, so that the bionic robots become the research heat. However, the existing composite joint suitable for the directional angle deflection of the artificial wrist composite joint can only sense the rotation angle of the spherical hinge through a sensor, cannot realize the directional space control of the rotation of the spherical hinge, and has great limitation.

Disclosure of Invention

Aiming at the problems, the invention provides a composite joint simulating freedom degree of a human wrist and a motion method, and the directional rotation of a spherical hinge is realized through the combination of the spherical hinge and a traction rope.

In order to achieve the purpose, the invention adopts the technical scheme that:

a composite joint simulating wrist degrees of freedom, comprising: the spherical hinge comprises a base, a ball head and a spherical hinge rod, the base is fixed above the rotary platform and can rotate on the rotary platform, the ball head is positioned in the base, the spherical hinge rod extends to the outside of the base, the first motor is packaged in the rotary platform, and the first motor is used for driving the Z axis of the spherical hinge to rotate; one end of the angle adjusting mechanism is fixedly connected to the top of the spherical hinge rod, the other end of the angle adjusting mechanism is fixedly connected to the bottom end of the side wall of the base, and the angle adjusting mechanism adjusts the rotating direction of the spherical hinge rod by changing the length.

Preferably, the angle adjusting mechanism comprises a second motor, a traction rope and a V-shaped grooved pulley, the second motor is fixedly installed at the bottom end of the side wall of the base, the second motor is connected with the traction rope, and the other end of the traction rope is fixedly connected to the top of the ball hinge rod through the V-shaped grooved pulley; the upper end of the side wall of the base is fixedly provided with the V-shaped grooved wheel, and the traction rope is laid on the V-shaped grooved wheel.

More preferably, the second motor is a lead screw motor for pulling the traction rope.

More preferably, the number of the angle adjusting mechanisms is 3, the angle adjusting mechanisms are uniformly distributed on the side wall of the spherical hinge, and an included angle between any two adjacent angle adjusting mechanisms is 120 degrees.

A motion method of a composite joint simulating the freedom degree of a human wrist is realized by the composite joint simulating the freedom degree of the human wrist, and comprises the following steps:

the first motor drives the Z axis of the base to rotate to a set angle;

and the angle adjusting mechanisms are matched in a coordinated manner, so that the second motor pulls the traction rope, and the deflection angles of the spherical hinges on the X axis and the Y axis are controlled.

Compared with the prior art, the invention has the beneficial effects that:

the composite joint with anthropomorphic wrist freedom and the motion method have simple structure, do not need complicated gear set transmission, and realize the directional rotation of the spherical hinge through the combination of the spherical hinge and the traction rope.

Drawings

FIG. 1 is a schematic diagram of a composite joint structure with anthropomorphic wrist freedom according to the present invention.

FIG. 2 is a top view of a composite joint structure for anthropomorphic wrist degrees of freedom according to the present invention.

Wherein, 1, rotating the platform; 2. a base; 3. a ball head; 4. a ball hinge rod; 5. a second motor; 6. a hauling rope; 7. v-shaped grooved wheels.

Detailed Description

For a better understanding of the present invention, the contents of the present invention will be further explained below with reference to the drawings and examples, but the present invention is not limited to the following examples.

Examples

A composite joint simulating wrist degrees of freedom, comprising: rotary platform 1, first motor, ball pivot and at least three angle adjustment mechanism, the ball pivot includes base 2, bulb 3 and ball pivot pole 4, and base 2 is fixed in rotary platform 1 top and can be rotatory on rotary platform 1, and bulb 3 is located 2 insides of base, and ball pivot pole 4 extends to 2 outsides of base, and 1 internally packaged of rotary platform has first motor, and first motor is used for driving the whole Z axle rotation of ball pivot. Angle adjustment mechanism one end fixed connection is at 4 tops of ball-and-socket joint pole, and other end fixed connection is in 2 lateral wall bottoms of base, and angle adjustment mechanism is through changing length and then adjusting ball-and-socket joint pole 4's rotation direction, and then angle adjustment mechanism can drag ball-and-socket joint pole 4, makes ball-and-socket joint pole 4 certain angles that deflect. Wherein, first motor is the rotating electrical machines, and the whole Z axle of purpose drive ball pivot is rotatory.

In the embodiment, the angle adjusting mechanism comprises a second motor 5, a traction rope 6 and a V-shaped grooved pulley 7, the second motor 5 is fixedly installed at the bottom end of the side wall of the base 2, the second motor 5 is connected with the traction rope 6, and the other end of the traction rope 6 is fixedly connected to the top of the spherical hinge rod 4 through the V-shaped grooved pulley 7; the upper end of the side wall of the base 2 is fixedly provided with a V-shaped grooved pulley 7, and a traction rope 6 is laid on the V-shaped grooved pulley 7. Wherein, the second motor 5 is a screw motor for pulling the traction rope 6.

The number of the angle adjusting mechanisms is 3, the angle adjusting mechanisms are evenly distributed on the side wall of the spherical hinge, the included angle between any two adjacent angle adjusting mechanisms is 120 degrees, and the three groups of angle adjusting mechanisms are mutually matched to realize the deflection of the spherical hinge on the X axis and the Y axis.

the first motor drives the base 2 to rotate to a set angle along the Z axis, and the process simulates that the human forearm is used as the Z axis and the human wrist rotates along the Z axis.

The cooperation of the angle adjusting mechanisms enables the second motor 5 to pull the traction rope 6, so that the deflection angles of the spherical hinge on the X axis and the Y axis are controlled, and the process simulates that the wrist turns over to form an angle with the Z axis.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. A composite joint simulating wrist degrees of freedom, comprising: the spherical hinge comprises a base, a ball head and a spherical hinge rod, the base is fixed above the rotary platform and can rotate on the rotary platform, the ball head is positioned in the base, the spherical hinge rod extends to the outside of the base, the first motor is packaged in the rotary platform, and the first motor is used for driving the Z axis of the spherical hinge to rotate; one end of the angle adjusting mechanism is fixedly connected to the top of the spherical hinge rod, the other end of the angle adjusting mechanism is fixedly connected to the bottom end of the side wall of the base, and the angle adjusting mechanism adjusts the rotating direction of the spherical hinge rod by changing the length.

2. The compound joint with anthropomorphic wrist freedom according to claim 1, characterized in that the angle adjusting mechanism comprises a second motor, a traction rope and a V-shaped grooved pulley, the second motor is fixedly installed at the bottom end of the side wall of the base, the second motor is connected with the traction rope, and the other end of the traction rope is fixedly connected with the top of the ball-hinged rod through the V-shaped grooved pulley; the upper end of the side wall of the base is fixedly provided with the V-shaped grooved wheel, and the traction rope is laid on the V-shaped grooved wheel.

3. The compound joint simulating wrist degrees of freedom of claim 2, wherein the second motor is a lead screw motor for pulling the traction rope.

4. The compound joint with anthropomorphic wrist freedom according to claim 2, characterized in that the number of the angle adjusting mechanisms is 3, the angle adjusting mechanisms are evenly distributed on the side wall of the spherical hinge, and the included angle between any two adjacent angle adjusting mechanisms is 120 degrees.

5. A method for moving a composite joint simulating freedom of a human wrist, which is realized by the composite joint simulating freedom of the human wrist of any one of the claims 2 to 4, comprising the following steps:

the first motor drives the Z axis of the base to rotate to a set angle;