CN113183144A - Rolling joint continuum mechanical arm driven by cable - Google Patents
Rolling joint continuum mechanical arm driven by cable Download PDFInfo
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- CN113183144A CN113183144A CN202110523831.7A CN202110523831A CN113183144A CN 113183144 A CN113183144 A CN 113183144A CN 202110523831 A CN202110523831 A CN 202110523831A CN 113183144 A CN113183144 A CN 113183144A
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- rolling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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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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Abstract
The invention discloses a cable-driven rolling joint continuum mechanical arm which comprises three mechanical arm modules with six degrees of freedom, wherein each mechanical arm module comprises a rolling joint body, a joint head and a driving cable, seven rolling joint bodies and two joint heads are alternately arranged in the orthogonal direction to form four yawing rolling curved surfaces and four pitching rolling curved surfaces, the seven rolling joint bodies and the two joint heads are connected in series through the driving cable to form a flexible arm with two degrees of freedom, the mechanical response characteristics of the modules are independent from a motion model, the assembly is flexible, and the high-degree-of-freedom motion accurate control can be realized. The rolling joint flexible arm mechanism provided by the invention realizes the bending of the flexible arm by tensioning or loosening the cable, ensures the motion space and precision of the mechanical arm, and has the advantages of compact mechanical structure, flexible motion, simple control, adjustable rigidity and large load capacity.
Description
Technical Field
The invention relates to a rolling joint continuum mechanical arm driven by a cable, and belongs to the field of robots.
Background
With the increasing diversification of robot tasks, the traditional rigid mechanical robot is difficult to meet the increasingly complex task requirements, and in the aspects of environmental space, man-machine cooperation and the like, the novel flexible robot is more and more widely concerned and is seen in various aspects, and the practical application is being developed at a rapid speed. The flexible mechanical arm is used as an important component of the robot, has the advantages of high operation efficiency, light weight and flexible movement, and has important significance in application scenes such as aerospace aviation, operations and the like. Most of the traditional flexible arms are made of rigid connecting rods or soft materials, the inherent rigidity of the traditional flexible arms is kept unchanged, and the requirements of different rigidities under different scenes cannot be met. The existing method for realizing variable rigidity focuses on the use of a rigidity-adjustable material, and has the problems of low response speed, large environmental influence and the like. There is therefore a need for a variable stiffness mechanism flexible arm that can both achieve high stiffness precision operation under high loads and move within the flexible pipe at lower stiffness to reduce damage to the mechanism.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides a rolling joint continuum mechanical arm driven by a cable, designs a variable-rigidity mechanism of the rolling joint continuum mechanical arm by utilizing the characteristics that a rolling surface has larger supporting force and rolling contact points are changed, and connects rolling joints in series by using the cable through specially arranged through holes, so that the rolling joint continuum mechanical arm has the characteristics of compact structure, flexible bending angle and large operation space, greatly reduces the mass and volume of the mechanism, and is convenient for miniaturization and accurate control.
In order to achieve the purpose, the invention adopts the following technical scheme:
a rolling joint continuum mechanical arm driven by a cable comprises three mechanical arm modules with six degrees of freedom, wherein each mechanical arm module comprises a rolling joint body, a joint head and a driving cable, the seven rolling joint bodies and the two joint heads are alternately placed in the orthogonal direction to form four yawing rolling curved surfaces and four pitching rolling curved surfaces, the seven rolling joint bodies and the two joint heads are connected in series to form a flexible arm with two degrees of freedom, the driving cable can freely move in a through hole to drive the flexible arm to bend, and the rigidity of the flexible arm can be controlled only through the tension of the driving cable.
The rolling joint body comprises an upper cylindrical curved surface, a lower cylindrical curved surface, a first through hole, a second through hole, a third through hole and a fourth through hole; the upper cylindrical curved surface and the lower cylindrical curved surface are respectively provided with an upper rolling surface and a lower rolling surface, and the connecting lines of the upper rolling surface and the lower rolling surface are mutually orthogonal; the first through hole, the second through hole, the third through hole and the fourth through hole are respectively arranged on two sides of the upper rolling surface, or the first through hole, the third through hole, the second through hole and the fourth through hole are respectively arranged on two sides of the lower rolling surface, so that the problem of motion error caused by contact interference of a cable and the rolling surface is avoided.
The seven rolling joint bodies are mutually contacted through the upper rolling surface and the lower rolling surface to form a yaw rolling curved surface and a pitching rolling curved surface, the cylindrical curved surfaces of the two joint heads are respectively contacted with the upper rolling surface of the first rolling joint and the lower rolling surface of the seventh rolling joint, and the mutual rolling of the curved surfaces drives the mechanical arm to bend.
The joint head comprises a driving cable through hole, a serial through hole and a cylindrical curved surface; the driving cable through hole is used for cable penetration; the series via may be used to serially connect a plurality of flexible arms.
The driving cable comprises four cables and an aluminum sleeve; the aluminum sleeve is fixed at one end of the driving cable and used for locking the rolling joints in series.
The four cables can be divided into two pairs of moving wires, wherein the cable passing through the first through hole, the cable passing through the third through hole, the cable passing through the second through hole and the cable passing through the fourth through hole form a pair of moving cables; and the cable penetrating through the first through hole, the cable penetrating through the third through hole and the cable penetrating through the fourth through hole form another pair of motion cables, and the two pairs of motion wires respectively control the bending motion of the pitching rolling curved surface and the bending motion of the yawing rolling curved surface.
The bending motion of the pitching rolling curved surface is that a pair of motion conducting wires penetrating through the first through hole and the second through hole are tightened, the other pair of cables penetrating through the third through hole and the fourth through hole are loosened, and the pitching rolling curved surface formed by the mutual contact of the lower rolling surfaces is bent.
The bending motion of the yaw rolling curved surface is that a pair of motion conducting wires penetrating through the second through hole and the fourth through hole are tensioned, the other pair of cables penetrating through the first through hole and the third through hole are loosened, and the yaw rolling curved surface formed by the mutual contact of the upper rolling surfaces is bent.
Compared with the prior art, the invention has the following prominent substantive characteristics and remarkable advantages:
1. the hollow rolling joint continuum mechanical arm is simple in structure and convenient to operate and control, and the rigidity of the flexible arm can be controlled only by driving the tension of the cable.
2. The rolling joint continuum mechanical arm driven by the cable has the characteristics of modularization, flexibility in movement, high reliability and large driving force, can be used in precision fields of aerospace, surgical robots and the like, and has high openness and high scientific research value.
Drawings
Fig. 1 is a general schematic diagram of a cable driven roll joint continuum robot.
Fig. 2 is a view-angle structural diagram of a single rolling joint according to the present invention.
FIG. 3 is another perspective view of the single rolling joint of the present invention
Fig. 4 is a schematic view of the structure of the joint head in the present invention.
Fig. 5 is a schematic view of a tandem two-dimensional structure of the rolling joint of the present invention.
Fig. 6 is a schematic view of a pitch rolling curved surface of the rolling joint continuum mechanical arm of the invention.
Fig. 7 is a schematic view of the pitch rolling curve and yaw rolling curve of the rolling joint continuum mechanical arm of the invention.
Detailed Description
The following describes the specific structure and operation principle of the embodiment of the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1, a cable-driven rolling joint continuum robot arm includes three robot arm modules having six degrees of freedom, where each robot arm module includes a rolling joint body 101, a joint head 102, and a drive cable 103, seven rolling joint bodies 101 and two joint heads 102 are alternately placed in orthogonal directions to form four pitch rolling curved surfaces 21 and four yaw rolling curved surfaces 22, and are connected in series by the drive cable 103 to form a two-degree-of-freedom flexible arm, the drive cable 103 can freely move in a through hole to drive the flexible arm to bend, and the stiffness of the flexible arm can be controlled only by the tension of the drive cable.
As shown in fig. 2 and 3, the rolling joint body 101 includes an upper cylindrical curved surface 1, a lower cylindrical curved surface 3, a first through hole 5, a second through hole 6, a third through hole 7, and a fourth through hole 8; the upper cylindrical curved surface 1 and the lower cylindrical curved surface 3 are respectively provided with an upper rolling surface 2 and a lower rolling surface 4, and the connecting lines of the upper rolling surface and the lower rolling surface are mutually orthogonal; the first through hole 5, the second through hole 6, the third through hole 7 and the fourth through hole 8 are respectively arranged on two sides of the rolling surface 2, or the first through hole 5, the third through hole 7, the second through hole 6 and the fourth through hole 8 are respectively arranged on two sides of the lower rolling surface 4, so that the problem of motion errors caused by contact interference of cables and the rolling surface is avoided.
As shown in fig. 4, the joint head 102 includes a drive cable through hole 10, a serial through hole 9, and a cylindrical curved surface 11; the driving cable through hole 10 is used for a driving cable 103 to pass through so as to connect the rolling joints connected in series; the series through hole 9 is used to serially connect a plurality of flexible arms.
As shown in fig. 5, the seven rolling joint bodies 101 contact with each other through the upper and lower rolling surfaces to form a yaw joint 15 and a pitch joint 16, the cylindrical curved surfaces of the two joint heads contact with the upper rolling surface of the first rolling joint 13 and the lower rolling surface of the seventh rolling joint 14, respectively, and the mechanical arm is bent by the mutual rolling of the curved surfaces. The driving cable 103 comprises four cables 17, 18, 19 and 20 and an aluminum sleeve 12; the aluminum sleeve 12 is fixed at one end of the driving cable and used for locking the rolling joints in series.
As shown in fig. 6 and 7, the four cables can be divided into two pairs of motion wires, wherein the cable 18 passing through the first through hole 5, the cable 19 passing through the third through hole 7, the cable 17 passing through the second through hole 6, and the cable 20 passing through the fourth through hole 8 form a pair of motion cables; and the cable 18 passing through the first through hole 5, the cable 17 passing through the second through hole 6, the cable 19 passing through the third through hole 7 and the cable 20 passing through the fourth through hole 8 form another pair of motion cables, and the two pairs of motion wires respectively control the pitch rolling curve bending motion and the yaw rolling curve bending motion. The bending motion of the pitch rolling curved surface is that the driving cable 17 and the driving cable 18 are tightened, the driving cable 19 and the driving cable 20 are loosened, and the pitch rolling curved surface 21 formed by the contact of the lower rolling surfaces is bent. The yaw rolling curved surface bends, the driving cable 17 and the driving cable 20 are tightened, the driving cable 18 and the driving cable 19 are loosened, and the yaw rolling curved surface 22 formed by the contact of the upper rolling surfaces bends.
According to the rolling joint continuum mechanical arm driven by the cable, the rolling joint continuum mechanical arm is designed to form a variable stiffness mechanism, the rolling joints are connected in series through the through holes arranged in a special way by the cable, the stiffness of the flexible arm can be controlled only by driving the tension of the cable, and a plurality of rolling joint continuum mechanical arm modules are connected to realize a redundant degree of freedom mechanical arm, so that the operation space is enlarged and the flexibility of movement is increased.
The rolling joint continuum mechanical arm specifically works in the following modes: the driving ropes 17 and 18 are tensioned, meanwhile, the driving ropes 19 and 20 are loosened, and the pitching joint 16 is subjected to the tension of the driving ropes to generate curved surface rolling, so that the bending motion of the pitching rolling curved surface is realized; similarly, the cables are driven by pulling the driving cables 17 and 20, the cables are driven by pulling the driving cables 18 and 19 to be loosened, and the yaw joint 15 is subjected to the tension of the driving cables to generate curved surface rolling, so that the curved surface bending motion of yaw rolling is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. The utility model provides a cable driven roll joint continuum mechanical arm which characterized in that: the flexible arm comprises three mechanical arm modules with six degrees of freedom, wherein each mechanical arm module comprises a rolling joint body (101), a joint head (102) and a driving cable (103), the seven rolling joint bodies (101) and the two joint heads (102) are alternately placed in the orthogonal direction to form four pitching rolling curved surfaces (21) and four yawing rolling curved surfaces (22), the rolling joint bodies and the two joint heads are connected in series through the driving cable (103) to form a flexible arm with two degrees of freedom, the driving cable (103) can freely move in a through hole to drive the flexible arm to bend, and the rigidity of the flexible arm can be controlled only through the tension of the driving cable.
2. A cable driven roll joint continuum robot arm as claimed in claim 1, wherein: the rolling joint body (101) comprises an upper cylindrical curved surface (1), a lower cylindrical curved surface (3), a first through hole (5), a second through hole (6), a third through hole (7) and a fourth through hole (8); the upper cylindrical curved surface (1) and the lower cylindrical curved surface (3) are respectively provided with an upper rolling surface (2) and a lower rolling surface (4), and the connecting lines of the upper rolling surface and the lower rolling surface are mutually orthogonal; through-hole one (5), through-hole two (6) and through-hole three (7), through-hole four (8) are arranged respectively in the both sides of last rolling surface (2), have avoided the cable to interfere the kinematic error problem that brings with the rolling surface contact.
3. A cable driven roll joint continuum robot arm as claimed in claim 2, wherein: the seven rolling joint bodies (101) are mutually contacted through upper and lower rolling surfaces to form a yaw joint (15) and a pitching joint (16), the cylindrical curved surfaces of the heads of the two joints are respectively contacted with the upper rolling surface of the first rolling joint (13) and the lower rolling surface of the seventh rolling joint (14), and the mutual rolling of the curved surfaces drives the mechanical arm to bend.
4. A cable driven roll joint continuum robot arm as claimed in claim 1, wherein: the joint head (102) comprises a driving cable through hole (10), a serial through hole (9) and a cylindrical curved surface (11); the driving cable through hole (10) is used for driving a cable (103) to pass through so as to connect the rolling joints connected in series; the series through hole (9) is used for connecting a plurality of flexible arms in series.
5. A cable driven roll joint continuum robot arm as claimed in claim 1, wherein: the driving cable (103) comprises four cables (17), (18), (19) and (20) and an aluminum sleeve (12); the aluminum sleeve (12) is fixed at one end of the driving cable and used for locking the rolling joints in series.
6. A cable driven roll joint continuum robot arm as claimed in claim 5, wherein: the four cables can be divided into two pairs of motion wires, wherein the cable (18) passing through the first through hole (5), the cable (19) passing through the third through hole (7), the cable (17) passing through the second through hole (6) and the cable (20) passing through the fourth through hole (8) form a pair of motion cables; and the cable (18) penetrating through the first through hole (5), the cable (17) penetrating through the second through hole (6), the cable (19) penetrating through the third through hole (7) and the cable (20) penetrating through the fourth through hole (8) form another pair of motion cables, and the two pairs of motion wires respectively control the pitch rolling curve bending motion and the yaw rolling curve bending motion.
7. A cable driven roll joint continuum robot arm as claimed in claim 6, wherein: the bending motion of the pitching rolling curved surface is that a pair of motion conducting wires (17) (18) penetrating through the first through hole (5) and the second through hole (6) is tightened, the other pair of cables (19) (20) penetrating through the third through hole (7) and the fourth through hole (8) are loosened, and the pitching rolling curved surface (21) formed by the contact of the lower rolling surfaces is bent.
8. A cable driven roll joint continuum robot arm as claimed in claim 6, wherein: the bending motion of the yaw rolling curved surface is that a pair of motion conducting wires (17) (20) penetrating through the second through hole (6) and the fourth through hole (8) is tightened, the other pair of cables (18) (19) penetrating through the first through hole (5) and the third through hole (7) are loosened, and the yaw rolling curved surface (22) formed by the mutual contact of the upper rolling surfaces is bent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110523831.7A CN113183144A (en) | 2021-05-13 | 2021-05-13 | Rolling joint continuum mechanical arm driven by cable |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110523831.7A CN113183144A (en) | 2021-05-13 | 2021-05-13 | Rolling joint continuum mechanical arm driven by cable |
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| CN113183144A true CN113183144A (en) | 2021-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110523831.7A Pending CN113183144A (en) | 2021-05-13 | 2021-05-13 | Rolling joint continuum mechanical arm driven by cable |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113562093A (en) * | 2021-08-09 | 2021-10-29 | 北京理工大学 | Wheel-foot robot with balancing device |
| CN114474147A (en) * | 2022-01-30 | 2022-05-13 | 四川大学 | Flexible arm mechanism capable of achieving rapid assembly and GIS maintenance robot |
| CN114633251A (en) * | 2022-03-21 | 2022-06-17 | 北京交通大学 | Single-degree-of-freedom dung beetle bionic robot capable of moving in rolling mode |
| CN114654455A (en) * | 2022-04-10 | 2022-06-24 | 北京航空航天大学 | Gear tooth rolling unit and snake-shaped arm structure with same |
| CN116021550A (en) * | 2023-03-01 | 2023-04-28 | 伊满实业(上海)有限公司 | Bending structure, mechanical arm and mechanical arm system |
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| CN106493723A (en) * | 2016-12-08 | 2017-03-15 | 燕山大学 | Based on the air articulated type flexible mechanical arm that rope drives |
| CN106926223A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of snake-shaped robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113562093A (en) * | 2021-08-09 | 2021-10-29 | 北京理工大学 | Wheel-foot robot with balancing device |
| CN114474147A (en) * | 2022-01-30 | 2022-05-13 | 四川大学 | Flexible arm mechanism capable of achieving rapid assembly and GIS maintenance robot |
| CN114633251A (en) * | 2022-03-21 | 2022-06-17 | 北京交通大学 | Single-degree-of-freedom dung beetle bionic robot capable of moving in rolling mode |
| CN114633251B (en) * | 2022-03-21 | 2023-07-21 | 北京交通大学 | Single-degree-of-freedom dung beetle bionic robot capable of rolling and advancing |
| CN114654455A (en) * | 2022-04-10 | 2022-06-24 | 北京航空航天大学 | Gear tooth rolling unit and snake-shaped arm structure with same |
| CN116021550A (en) * | 2023-03-01 | 2023-04-28 | 伊满实业(上海)有限公司 | Bending structure, mechanical arm and mechanical arm system |
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Application publication date: 20210730 |