CN113103220A - Rope-driven robot and driving method - Google Patents
Rope-driven robot and driving method Download PDFInfo
- Publication number
- CN113103220A CN113103220A CN202110593513.8A CN202110593513A CN113103220A CN 113103220 A CN113103220 A CN 113103220A CN 202110593513 A CN202110593513 A CN 202110593513A CN 113103220 A CN113103220 A CN 113103220A
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- rope
- array
- traction
- cylinder
- robot
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- 238000000034 method Methods 0.000 title description 3
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 210000000062 pectoralis major Anatomy 0.000 claims description 35
- 210000003205 muscle Anatomy 0.000 claims description 22
- 210000002976 pectoralis muscle Anatomy 0.000 claims description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 238000009987 spinning Methods 0.000 claims description 9
- 210000002310 elbow joint Anatomy 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 description 3
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- 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
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rope-driven robot, wherein a body frame body of the robot is internally provided with a servo motor array formed by arranging a plurality of servo motors in an array mode, a coupler array and a ball screw array which are correspondingly arranged on the servo motor array, and a bearing array for fixing the ball screw; each servo motor is correspondingly driven to be independently reciprocated by a screw nut arranged on the ball screw, a traction plate is arranged on the screw nut, the traction plate is connected with an annular traction rope of the traction rope mechanism to reciprocate, and the annular traction rope drives a driving sheave arranged at a motion joint of the robot to rotate to drive the motion limb to rotate. The invention can save space and weight by matching the servo motors and the ball screws arranged in an array with the traction rope mechanism, and can greatly reduce the arrangement of the motors on the mechanical limbs and simplify the whole structure by adopting power output centralized arrangement, thereby reducing the weight and the volume of the mechanical limbs such as the mechanical arm and increasing the load of the tail end.
Description
Technical Field
The invention relates to a rope-driven robot, and belongs to the technical field of robots.
Background
The joints of the existing humanoid robot are mostly driven and controlled by motors, speed reducers or synchronous belts, and the like, and the motors, the speed reducers and other components are mostly arranged on the joints or arms. In addition, the joints of a few robots are controlled by hydraulic transmission, the hydraulic transmission has the leakage problem, and oiling is troublesome in the assembly process.
To make the humanoid robot more flexible, light in weight, and load capacity is strong, and prior art can't accomplish, needs to continue the innovation.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a rope-driven robot, which can greatly reduce the arrangement of motors on a mechanical arm, thereby reducing the weight and the volume of the mechanical arm and increasing the load of a tail end.
In order to achieve the technical purpose, the invention adopts the technical scheme that: a rope-driven robot is characterized in that a body frame body of the robot is internally provided with a servo motor array formed by arranging a plurality of servo motors in an array mode, a coupler array and a ball screw array which are correspondingly arranged on the servo motor array, and a bearing array for fixing the ball screw; each servo motor is correspondingly driven to be independently reciprocated by a screw nut arranged on the ball screw, a traction plate is arranged on the screw nut, the traction plate is connected with an annular traction rope of the traction rope mechanism to reciprocate, and the annular traction rope drives a driving sheave arranged at a motion joint of the robot to rotate to drive the motion limb to rotate.
Furthermore, the body frame body is composed of a motor fixing plate, a lead screw fixing plate, a rope tube fixing plate and a frame, a guide pillar array which is parallel to the ball screw array and is correspondingly arranged is arranged between the lead screw fixing plate and the rope tube fixing plate, and the traction plate is installed on the guide pillar through a linear bearing and slides along the guide pillar.
Furthermore, the haulage rope mechanism includes haulage rope, switching-over sheave, rope pipe, the drive sheave of joint department, screw thread tensioning ware, and the haulage rope is walked around the switching-over sheave and the drive sheave of joint department forms the closed loop, and two ends of haulage rope are fixed respectively on the traction plate, and rope pipe and screw thread tensioning ware cover restrict the length of haulage rope and make the haulage rope tensioning outside the haulage rope, eliminate reciprocal clearance.
Furthermore, the driving grooved wheel is provided with a notch which is matched with the rope fixer arranged on the driving grooved wheel, so that the traction rope can drive the grooved wheel, and the annular rope mechanism effectively avoids the return difference of the rope driving reciprocating transmission by using the two driving grooved wheels.
Furthermore, the driving sheave is of a hollow structure, so that a lower pipeline can pass through the driving sheave.
Further, still install a pair of pectoralis major muscle rope jar mechanism and shoulder axle motor and speed reducer on the body frame body, pectoralis major muscle rope jar one end is connected with the rope pipe fixed plate through the bulb, and the other end is connected with the shoulder casing through wide-angle bulb, and the shoulder casing is articulated with the shoulder axle for the abduction motion of drive big arm, big arm spinning motion relies on the haulage rope to pull the drive sheave motion of fixing at big arm top, and shoulder axle motor passes through the speed reducer and drives big arm and be rotary motion, and connects in parallel with pectoralis major muscle rope jar mechanism and drive big arm and realize the motion of full degree of freedom.
Further, the large arm is connected with the shoulder housing through a cross roller bearing.
Furthermore, the pectoralis major rope cylinder mechanism comprises a pectoralis major rope cylinder, a pectoralis major traction rope, a pectoralis muscle piston rod, a rope cylinder piston, a rope cylinder linear bearing and a pectoralis muscle rope pipe, wherein the pectoralis major rope cylinder is a side-opening cylinder body or a groove body, the pectoralis muscle rope pipe is fixed on two end covers of the pectoralis major rope cylinder, the rope cylinder linear bearing is fixed at the output end of the pectoralis major rope cylinder, the pectoralis muscle piston rod passes through the rope cylinder linear bearing and slides in the pectoralis major rope cylinder in a reciprocating manner, the pectoralis major traction rope and the rope cylinder piston are relatively fixed, and the traction rope cylinder piston drives the pectoralis muscle piston rod; the big arm is connected with the small arm connecting piece through an elbow joint grooved wheel arranged in the big arm, a small arm driving rope is sleeved on the elbow joint grooved wheel, and the small arm driving rope penetrates through the rope pipe and is adjusted through the spiral tensioner.
The beneficial technical effects of the invention are as follows: the servo motors and the ball screws which are arranged in an array are matched with the traction rope mechanism, so that the space and the weight can be saved, the power output is adopted for centralized arrangement, the motor arrangement on the mechanical limb can be greatly reduced, the integral structure is simplified, the mechanical limb is lightened, the weight and the volume of the mechanical arm are reduced, and the tail end load is increased.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic front isometric view of the present invention;
FIG. 2 is a rear isometric view of the present invention.
In the figure: 1. a servo motor array, 2, a motor fixing plate, 3, a coupler array, 4, a sheave bracket, 5, a reversing sheave, 6, a traction plate, 7, a screw rod fixing plate, 8, a guide pillar array, 9, a linear bearing, 10, an elbow joint sheave, 11, a small arm driving rope, 12, a rope pipe, 13, a large arm, 14, a screw nut, 15, a thread tensioner, 16, a ball screw array, 17, a pectoralis muscle traction rope, 18, rope tube fixing plates 19, rope cylinder pistons 20, pectoralis major rope cylinders 21, pectoralis rope tubes 22, pectoralis piston rods 23, cross roller bearings 24, shoulder shells 25, large-angle ball heads 26, shoulder shafts 27, harmonic reducers 28, frames 29, shoulder shaft motors 30, rope fixers 31, large arm spinning grooved pulleys 32, large arm spinning driving ropes 33, large arm spinning rope tubes 34, small arm connecting pieces 35 and rope cylinder linear bearings.
Detailed Description
A rope-driven robot is characterized in that a body frame body of the robot is internally provided with a servo motor array formed by arranging a plurality of servo motors in an array mode, a coupler array and a ball screw array which are correspondingly arranged on the servo motor array, and a bearing array for fixing the ball screw; each servo motor is correspondingly driven to be independently reciprocated by a screw nut arranged on the ball screw, a traction plate is arranged on the screw nut, the traction plate is connected with an annular traction rope of the traction rope mechanism to reciprocate, and the annular traction rope drives a sheave arranged at a motion joint of the robot to rotate to drive the motion limb to rotate.
As shown in fig. 1 and 2, a robot arm is driven.
A body frame body of the robot is formed by a motor fixing plate 2, a lead screw fixing plate 7, a rope pipe fixing plate 18 and a frame 28, and a servo motor array 1 formed by arranging a plurality of servo motors in an array mode is fixedly arranged below the motor fixing plate 2; in the space between the motor fixing plate 2 and the screw rod fixing plate 7, a coupler array 3 is arranged corresponding to the servo motor array 1, a sheave bracket 4 is arranged below the screw rod fixing plate 7, and reversing sheaves 5 are arranged in the two sheave brackets 4; in the space between the screw rod fixing plate 7 and the rope tube fixing plate 18, a ball screw array 16 is arranged corresponding to the servo motor array 1 and the coupling array 3, a guide post array 8 which is parallel to the ball screw array 16 and is arranged corresponding to the ball screw array is arranged between the screw rod fixing plate 7 and the rope tube fixing plate 18, and the traction plate 6 is arranged on the guide post through a linear bearing 9 and slides along the guide post; each servo motor correspondingly drives a screw nut 14 arranged on the ball screw to do independent reciprocating motion, a traction plate 6 arranged on the screw nut 14 is connected with the traction plate 6 to do reciprocating motion through an annular traction rope of a traction rope mechanism, and the annular traction rope drives a driving grooved pulley arranged at a motion joint of the robot to rotate to drive the motion limb to do rotary motion.
The haulage rope mechanism includes haulage rope, switching-over sheave 5, rope pipe 12, the drive sheave of joint department, screw thread tensioning ware 15, and the haulage rope is walked around the drive sheave of switching-over sheave and joint department and is formed the closed loop, and two ends of haulage rope are fixed respectively on the traction plate, and rope pipe 12 and screw thread tensioning ware 15 cover restrict the length of haulage rope and make the haulage rope tensioning outside the haulage rope, eliminate reciprocal clearance.
The driving grooved wheel is provided with a notch which is matched with the rope fixer 30 arranged on the driving grooved wheel to ensure that the traction rope can drive the grooved wheel, the annular rope mechanism effectively avoids the return difference of the reciprocating transmission of the rope drive by using two driving grooved wheels, and the driving grooved wheels are of hollow structures and are beneficial to the passing of a pipeline at the lower part.
The body frame body is provided with a pair of pectoralis major cord cylinder mechanisms, a shoulder shaft motor 29 and a harmonic speed reducer 27, one end of a pectoralis major cord cylinder 20 is connected with a cord tube fixing plate 18 through a ball head, the other end of the pectoralis major cord cylinder is connected with a shoulder shell 24 through a large-angle ball head 25, the shoulder shell 24 is hinged with a shoulder shaft 26 and used for driving the abduction movement of a major arm 13, the major arm 13 spinning movement depends on a major arm spinning traction rope 32 to draw a major arm spinning grooved pulley 31 fixed at the top end of the major arm to move, the shoulder shaft motor 29 drives the major arm to rotate through the speed reducer and is connected with the pectoralis major cord cylinder mechanisms in parallel to drive the major arm to realize full-freedom movement, the major arm 13 is connected with the shoulder shell 24 through a crossed roller bearing 23, and the major arm spinning traction.
The pectoralis major muscle rope cylinder mechanism comprises a pectoralis major muscle rope cylinder 20, a pectoralis major muscle traction rope 17, a pectoralis muscle piston rod 22, a rope cylinder piston 19, a rope cylinder linear bearing 35 and a pectoralis muscle rope tube 21, wherein the pectoralis major muscle rope cylinder is a side-hole cylinder body or a groove body, the pectoralis muscle rope tube 21 is fixed on two end covers of the pectoralis major muscle rope cylinder, the rope cylinder linear bearing 35 is fixed at the output end of the pectoralis major muscle rope cylinder 20, the pectoralis muscle piston rod 22 penetrates through the rope cylinder linear bearing 35 and slides in a reciprocating manner in the pectoralis major muscle rope cylinder 20, the pectoralis major muscle traction rope 17 and the rope cylinder piston 19 are relatively fixed, and the traction rope cylinder piston.
The big arm 13 is connected with a small arm connecting piece 34 through a elbow joint sheave 10 arranged in the big arm 13, a small arm driving rope 11 is sleeved on the elbow joint sheave 10, the small arm driving rope 11 penetrates through a rope pipe 12, and the small arm driving rope is adjusted through a spiral tensioner 15.
The invention can save space and weight by matching the servo motors and the ball screws arranged in an array with the traction rope mechanism, and can greatly reduce the arrangement of the motors on the mechanical limbs and simplify the whole structure by adopting power output centralized arrangement, thereby reducing the weight and the volume of the mechanical limbs such as the mechanical arm and increasing the load of the tail end.
The above embodiments are provided for explaining and illustrating the structure of the present invention, and are not intended to limit the scope of the present invention, and all simple or non-inventive changes and modifications based on the present invention shall fall within the scope of the present invention.
Claims (8)
1. A rope-driven robot, characterized in that: the robot comprises a body frame body, a servo motor array, a coupler array, a ball screw array and a bearing array, wherein the body frame body is internally provided with the robot, the servo motor array is formed by arranging a plurality of servo motors in an array mode, the coupler array and the ball screw array are correspondingly arranged on the servo motor array, and the bearing array is used for fixing the ball screw; each servo motor is correspondingly driven to be independently reciprocated by a screw nut arranged on the ball screw, a traction plate is arranged on the screw nut, the traction plate is connected with an annular traction rope of the traction rope mechanism to reciprocate, and the annular traction rope drives a driving sheave arranged at a motion joint of the robot to rotate to drive the motion limb to rotate.
2. The rope driven robot of claim 1, wherein: the body frame body is composed of a motor fixing plate, a lead screw fixing plate, a rope pipe fixing plate and a frame, a guide pillar array which is parallel to the ball screw array and corresponds to the ball screw array is arranged between the lead screw fixing plate and the rope pipe fixing plate, and a traction plate is installed on the guide pillars through linear bearings and slides along the guide pillars.
3. The rope driven robot of claim 1, wherein: the traction rope mechanism comprises a traction rope, a reversing grooved wheel, a rope pipe, a driving grooved wheel at a joint and a thread tensioner, the traction rope bypasses the reversing grooved wheel and the driving grooved wheel at the joint to form a closed loop, two ends of the traction rope are respectively fixed on a traction plate, and the rope pipe and the thread tensioner are sleeved outside the traction rope to limit the length of the traction rope and tension the traction rope, so that a reciprocating gap is eliminated.
4. The rope driven robot of claim 3, wherein: the driving grooved pulley is provided with a notch which is matched with the rope fixer arranged on the driving grooved pulley, so that the traction rope can drive the grooved pulley, and the annular rope mechanism effectively avoids the return difference of the rope driving reciprocating transmission by using two driving grooved pulleys.
5. The rope driven robot of claim 4, wherein: the driving grooved wheel is of a hollow structure and is beneficial to a pipeline at the lower part to pass through.
6. The rope driven robot of claim 1, wherein: still install a pair of pectoralis major muscle rope jar mechanism and shoulder axle motor and speed reducer on the body frame body, pectoralis major muscle rope jar one end is passed through the bulb and is connected with the rope pipe fixed plate, and the other end passes through wide-angle bulb and is connected with the shoulder casing, and the shoulder casing is articulated with the shoulder axle for the abduction motion of drive big arm, big arm spinning motion relies on the haulage rope to pull the drive sheave motion of fixing at big arm top, and shoulder axle motor passes through the speed reducer and drives big arm and be rotary motion, and realizes full degree of freedom motion with the parallelly connected drive big arm of pectoralis major muscle rope jar mechanism.
7. The rope driven robot of claim 6, wherein: the large arm is connected with the shoulder shell through a crossed roller bearing.
8. The rope driven robot of claim 6, wherein: the pectoralis major muscle rope cylinder mechanism comprises a pectoralis major muscle rope cylinder, a pectoralis major muscle traction rope, a pectoralis muscle piston rod, a rope cylinder piston, a rope cylinder linear bearing and a pectoralis muscle rope pipe, wherein the pectoralis major muscle rope cylinder is a side-opening cylinder body or a groove body, the pectoralis muscle rope pipe is fixed on two end covers of the pectoralis major muscle rope cylinder, the rope cylinder linear bearing is fixed at the output end of the pectoralis major muscle rope cylinder, the pectoralis muscle piston rod passes through the rope cylinder linear bearing and slides in the pectoralis major muscle rope cylinder in a reciprocating manner, the pectoralis major muscle traction rope and the rope cylinder piston are relatively fixed, and the traction rope cylinder; the big arm is connected with the small arm connecting piece through an elbow joint grooved wheel arranged in the big arm, a small arm driving rope is sleeved on the elbow joint grooved wheel, and the small arm driving rope penetrates through the rope pipe and is adjusted through the spiral tensioner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110593513.8A CN113103220A (en) | 2021-05-28 | 2021-05-28 | Rope-driven robot and driving method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110593513.8A CN113103220A (en) | 2021-05-28 | 2021-05-28 | Rope-driven robot and driving method |
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| Publication Number | Publication Date |
|---|---|
| CN113103220A true CN113103220A (en) | 2021-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110593513.8A Pending CN113103220A (en) | 2021-05-28 | 2021-05-28 | Rope-driven robot and driving method |
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| CN (1) | CN113103220A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114406988A (en) * | 2022-01-25 | 2022-04-29 | 常州大学 | Wearable continuous flexible outer limb robot for operation in narrow space |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105662782A (en) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | Exoskeletal rehabilitation robot for upper limbs |
| CN107000218A (en) * | 2014-11-28 | 2017-08-01 | Thk株式会社 | Inclination rotational structure in robot |
| CN108406754A (en) * | 2018-05-30 | 2018-08-17 | 北京三维精致科技有限责任公司 | A kind of leading screw servo articulated mechanical arm |
| CN110978029A (en) * | 2019-11-01 | 2020-04-10 | 北京精密机电控制设备研究所 | Driving system for tendon-driven humanoid dexterous finger joint |
| CN215701698U (en) * | 2021-05-28 | 2022-02-01 | 宿州赛尔沃德物联网科技有限公司 | Rope-driven robot |
-
2021
- 2021-05-28 CN CN202110593513.8A patent/CN113103220A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107000218A (en) * | 2014-11-28 | 2017-08-01 | Thk株式会社 | Inclination rotational structure in robot |
| CN105662782A (en) * | 2016-03-21 | 2016-06-15 | 上海卓道医疗科技有限公司 | Exoskeletal rehabilitation robot for upper limbs |
| CN108406754A (en) * | 2018-05-30 | 2018-08-17 | 北京三维精致科技有限责任公司 | A kind of leading screw servo articulated mechanical arm |
| CN110978029A (en) * | 2019-11-01 | 2020-04-10 | 北京精密机电控制设备研究所 | Driving system for tendon-driven humanoid dexterous finger joint |
| CN215701698U (en) * | 2021-05-28 | 2022-02-01 | 宿州赛尔沃德物联网科技有限公司 | Rope-driven robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114406988A (en) * | 2022-01-25 | 2022-04-29 | 常州大学 | Wearable continuous flexible outer limb robot for operation in narrow space |
| CN114406988B (en) * | 2022-01-25 | 2023-09-26 | 常州大学 | Wearable continuous flexible outer limb robot for operation in narrow space |
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