CN113858257A - Robot wrist with large-range variable rigidity - Google Patents
Robot wrist with large-range variable rigidity Download PDFInfo
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- CN113858257A CN113858257A CN202111078245.2A CN202111078245A CN113858257A CN 113858257 A CN113858257 A CN 113858257A CN 202111078245 A CN202111078245 A CN 202111078245A CN 113858257 A CN113858257 A CN 113858257A
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- platform
- wrist
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- rod
- elastic element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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Abstract
The invention discloses a robot wrist with large-range variable rigidity, which comprises a variable rigidity driver and a wrist assembly, wherein the variable rigidity driver is provided with a rotating shaft, the rotating shaft is provided with an elastic element, two sides of the elastic element are provided with mounting rods, the mounting rods are fixedly arranged on the variable rigidity driver, the wrist assembly comprises a top rod, a pulley frame and a bottom rod, the robot wrist stiffness adjusting device comprises an installation rod and a connecting rod, wherein a plane parallel mechanism is arranged on a top rod and comprises an upper platform, a lower platform and two groups of branched chain structures, a plurality of groups of limiting columns are arranged on the branched chain structures, a bottom rod and the connecting rod, a wire column is arranged on the upper platform, a traction wire is arranged on the wire column, one end of the traction wire is fixed on the wire column, and the other end of the traction wire penetrates through the limiting columns and pulleys to be connected with an elastic element.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot wrist with large-range variable rigidity.
Background
During the movement of the industrial robot to the work object, the wrist is required to be relatively rigid to reduce deformation and oscillation of the wrist. Meanwhile, deformation of the variable-stiffness wrist caused by low stiffness is avoided, and therefore the positioning accuracy of the variable-stiffness wrist is improved so as to accurately position the position of the operation object. And then in the process of contacting with the working object, the robot and the working object are blocked due to the position and orientation errors of the robot and the working object. The rigidity of the variable-rigidity wrist is required to be smaller, and under the action of clamping resistance, the relative pose between the robot and the operation object is automatically adjusted, and the pose error is compensated, so that the operation is completed. Therefore, according to different working procedures in the operation process of the robot, the wrist needs to be adjusted to different rigidities in real time in a large range on line.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art and provides a robot wrist with large-range variable rigidity.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: the robot wrist with the large-range variable rigidity comprises a variable rigidity driver and a wrist assembly, wherein a rotating shaft is arranged on the variable rigidity driver, an elastic element is arranged on the rotating shaft, installation rods are arranged on two sides of the elastic element and fixedly arranged on the variable rigidity driver, the wrist assembly comprises a top rod, a pulley frame, a bottom rod and a connecting rod, the bottom rod is arranged between the variable rigidity driver and the installation rods, a shaft hole through which the rotating shaft passes is arranged on the bottom rod, the bottom rod is fixedly connected with the connecting rod, the connecting rod is hinged with the pulley frame, a pulley is arranged on the pulley frame, the pulley frame is fixedly connected with the top rod, a plane parallel mechanism is arranged on the top rod and comprises an upper platform, a lower platform and two groups of branched chain structures, the upper platform and the lower platform are connected through the branched chain structure, a plurality of groups of limiting columns are arranged on the branched chain structure, the bottom rod and the connecting rod, gaps are formed among the limiting columns, a string post is arranged on the upper platform, a traction wire is arranged on the string post, one end of the traction wire is fixed on the string post, and the other end of the traction wire penetrates through the limiting columns and the pulleys respectively to be connected with the elastic element.
Preferably, still be provided with spacing subassembly between upper mounting plate and the lower mounting plate, spacing subassembly includes spacing piece and lower spacing piece, go up spacing piece and lower spacing piece respectively with upper mounting plate and lower mounting plate are articulated.
Preferably, the branched chain structure comprises an upper connecting plate and a lower connecting plate, the upper connecting plate is hinged to the upper platform and the lower connecting plate, and the lower connecting plate is hinged to the lower platform.
Preferably, an actuator is arranged on the upper platform.
The invention has the beneficial effects that:
the invention can install the variable-rigidity wrist on the industrial robot in a large range, and the wrist can be adjusted to different rigidities in a large range on line in real time according to different working procedures in the operation process of the robot. In the process that the industrial robot moves to an operation object, the wrist rigidity is adjusted to be a large value so as to avoid deformation and oscillation in the moving process of the robot and increase the precision of the robot in positioning the operation object; in the process of contacting with the working object, because the robot and the working object have pose errors, jamming exists between the robot and the working object. At the moment, the wrist rigidity is adjusted to be a smaller value to form a flexible wrist, the relative pose between the robot and the operation object is automatically adjusted under the action of the clamping resistance, and the pose error is compensated, so that the operation is completed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a partial structural view of a variable-stiffness wrist according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of the overall structure of a variable-stiffness wrist according to embodiment 2 of the present invention;
FIG. 3 is a schematic diagram of the mechanism of a variable stiffness wrist of embodiment 3 of the present invention;
fig. 4 is an overall structural view of an industrial robot incorporating the present invention.
The attached drawings are marked as follows:
1-bottom rod 2-connecting rod 3-pulley yoke 4-traction wire 5-top rod 6-spacing column 7-lower connecting plate 8-lower platform 9-upper connecting plate 10-upper platform 11-articulated shaft 12-lower spacing block 13-upper spacing block 14-wire column 15-elastic element 16-rotating shaft 17-mounting rod 18-variable rigidity driver 19-actuator 20-plane parallel structure 21-wrist component.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1-4, in a preferred embodiment of the present invention, a robot wrist with wide range of variable stiffness comprises a variable stiffness wrist body, the variable stiffness wrist body comprises a variable stiffness driver 18 and a wrist assembly 21, a rotating shaft 16 is disposed on the variable stiffness driver 18, an elastic element 15 is disposed on the rotating shaft 16, mounting rods 17 are disposed on two sides of the elastic element 15, the mounting rods 17 are fixedly disposed on the variable stiffness driver 18, the wrist assembly 21 comprises a top rod 5, a pulley frame 3, a bottom rod 1 and a connecting rod 2, the bottom rod 1 is disposed between the variable stiffness driver 18 and the mounting rods 17, a shaft hole through which the rotating shaft 16 passes is disposed on the bottom rod 1, the bottom rod 1 is fixedly connected with the connecting rod 2, the connecting rod 2 is hinged with the pulley frame 3, a pulley is disposed on the pulley frame 3, pulley yoke 3 with top pole 5 fixed connection, be provided with plane parallel mechanism 20 on the top pole 5, plane parallel mechanism 20 includes upper mounting plate 10, lower platform 8 and two sets of branch chain structures, upper mounting plate 10 passes through with lower platform 8 the branch chain structure is connected, all be provided with the spacing post 6 of multiunit on branch chain structure, bottom pole 1 and the connecting rod 2, be provided with the clearance between the spacing post 6, be provided with the post 14 on the upper mounting plate 10, be provided with pull wire 4 on the post 14, pull wire 4 one end is fixed on the post 14, the pull wire 4 other end pass spacing post 6 and pulley respectively with elastic element 15 connects.
As a preferred embodiment of the present invention, it may also have the following additional technical features:
in this embodiment, still be provided with spacing subassembly between upper mounting plate 10 and the lower mounting plate 8, spacing subassembly includes spacing piece 13 and lower spacing piece 12 down, go up spacing piece 13 and lower spacing piece 12 respectively with upper mounting plate 10 is articulated with lower mounting plate 8, spacing piece 12 can rotate around the articulated shaft 11 of the articulated department of lower mounting plate 8 down, and last spacing piece 13 can rotate around the articulated shaft 11 of the articulated department of lower spacing piece 12, and upper mounting plate 10 can rotate around the articulated shaft 11 of the articulated department of upper spacing piece 13.
In this embodiment, the branched chain structure includes upper connection plate 9 and lower connection plate 7, upper connection plate 9 simultaneously with upper platform 10 with lower connection plate 7 is articulated, lower connection plate 7 with lower platform 8 is articulated.
In this embodiment, an actuator 19 is disposed on the upper platform 10.
In order to better understand the technical solution of the present invention, the following will clearly and completely describe the technical solution in connection with the examples of the present invention, which are not limited to the present invention.
Detailed description of the preferred embodiment 1
Referring to fig. 2, when the plane parallel mechanism 20, the pulley frame 3 and the bottom bar 1 are rotated from the equilibrium position, the pulling wire 4 stretches the elastic element 15 to deform, generating a force against the rotation, which can be converted into the rigidity of the wrist assembly 21, the tension of the elastic element 15 can be changed by stretching the elastic element 15 through the variable-rigidity driver 18 to adjust the rotation rigidity of the wrist assembly 21, and the actuator 19 is mounted on the upper platform 10 of the variable-rigidity wrist assembly 21 for robot work.
According to the invention, the variable stiffness driver 19 stretches the elastic element 15 to increase the tension of the elastic element 15 so as to increase the stiffness of the wrist assembly 21, thereby avoiding deformation and oscillation in the moving process of the robot and increasing the precision of the robot for positioning to a working object, and then in the contact process with the working object, the variable stiffness driver 18 adjusts the stretching length of the elastic element 15 so as to reduce the tension of the elastic element 15, so that the stiffness of the wrist assembly 21 is reduced, at the moment, the stiffness of the wrist assembly 21 becomes a flexible wrist, and under the action of a clamping resistance, the relative pose between the robot and the working object is automatically adjusted, and the pose error is compensated, so as to complete the operation, therefore, according to different working procedures in the operation process of the robot, the wrist assembly 21 can be adjusted to different stiffnesses in real time and in a large range.
Specific example 2
Referring to fig. 3, the plane parallel mechanism 20 can rotate around the rotation shaft 16 through the shaft hole on the bottom rod 1 and can also rotate around the rotation shaft where the connecting rod 2 is hinged with the pulley frame 3, the rotation axis of the plane parallel mechanism 20, the rotation axis of the bottom rod 1 and the rotation axis of the pulley frame 3 are mutually perpendicular, and simultaneously the plane parallel mechanism 20 can respectively translate parallel to the rotation axis of the bottom rod 1 and the rotation axis of the pulley frame 3, so as to realize 5-degree-of-freedom movement of rotation of the wrist assembly 21 around the space 3 shafts and translation along the plane 2 direction, thereby meeting the requirement of robot posture adjustment.
Specific example 3
Referring to fig. 4, the wrist assembly 21 with variable rigidity is mounted on the industrial robot, the wrist assembly 21 can be adjusted to different rigidities in real time in a large range on line according to different procedures in the operation process of the robot, and the rigidity of the wrist assembly 21 is adjusted to a larger value in the process that the industrial robot moves to an operation object so as to avoid deformation and oscillation in the moving process of the robot and increase the precision of the robot in positioning the operation object; in the process of contacting with the operation object, because the robot and the operation object have pose errors, and a jamming exists between the robot and the operation object, the rigidity of the wrist assembly 21 is adjusted to be a smaller value to form a flexible wrist, and under the action of the jamming, the relative pose between the robot and the operation object is automatically adjusted to compensate the pose errors, so that the operation is completed.
The using method of the invention comprises the following steps: the wrist assembly 21 with variable rigidity in a large range is installed on the industrial robot, the wrist assembly 21 can be adjusted to different rigidities in real time in a large range on line according to different working procedures in the operation process of the robot, and the rigidity of the wrist assembly 21 is adjusted to a large value in the process that the industrial robot moves to an operation object, so that the deformation and oscillation of the robot in the moving process are avoided, and the precision of the robot for positioning the operation object is increased; in the process of contacting with the operation object, because the robot and the operation object have pose errors, the jamming exists between the robot and the operation object, the rigidity of the wrist assembly 21 is adjusted to be a smaller value to form the flexible wrist assembly 21, and under the action of the jamming, the relative pose between the robot and the operation object is automatically adjusted to compensate the pose errors so as to finish the operation.
According to the invention, the wrist assembly 21 with variable rigidity in a large range can be installed on the industrial robot, the wrist assembly 21 can be adjusted to different rigidities in real time in a large range on line according to different procedures in the operation process of the robot, and the rigidity of the wrist assembly 21 is adjusted to a larger value in the process that the industrial robot moves to an operation object, so that the deformation and oscillation of the robot in the moving process are avoided, and the precision of the robot for positioning the operation object is increased; in the process of contacting with the operation object, because the robot and the operation object have pose errors, the jamming exists between the robot and the operation object, the rigidity of the wrist assembly 21 is adjusted to be a smaller value to form the flexible wrist assembly 21, and under the action of the jamming, the relative pose between the robot and the operation object is automatically adjusted to compensate the pose errors so as to finish the operation.
The above additional technical features can be freely combined and used in superposition by those skilled in the art without conflict.
The above description is only a preferred embodiment of the present invention, and the technical solutions that achieve the objects of the present invention by basically the same means are all within the protection scope of the present invention.
Claims (4)
1. A robot wrist with large-range variable rigidity is characterized in that: the variable stiffness driving device comprises a variable stiffness driving device (18) and a wrist assembly (21), wherein a rotating shaft (16) is arranged on the variable stiffness driving device (18), an elastic element (15) is arranged on the rotating shaft (16), mounting rods (17) are arranged on two sides of the elastic element (15), the mounting rods (17) are fixedly arranged on the variable stiffness driving device (18), the wrist assembly (21) comprises a top rod (5), a pulley frame (3), a bottom rod (1) and a connecting rod (2), the bottom rod (1) is arranged between the variable stiffness driving device (18) and the mounting rods (17), a shaft hole through which the rotating shaft (16) passes is formed in the bottom rod (1), the bottom rod (1) is fixedly connected with the connecting rod (2), the connecting rod (2) is hinged with the pulley frame (3), and pulleys are arranged on the pulley frame (3), pulley yoke (3) with top pole (5) fixed connection, be provided with plane parallel mechanism (20) on top pole (5), plane parallel mechanism (20) are including last platform (10), lower platform (8) and two sets of branch chain structure, last platform (10) and lower platform (8) pass through branch chain structure connects, all be provided with spacing post of multiunit (6) on branch chain structure, bottom pole (1) and connecting rod (2), be provided with the clearance between spacing post (6), be provided with post (14) on last platform (10), be provided with pull wire (4) on post (14), pull wire (4) one end is fixed on post (14), pull wire (4) other end pass spacing post (6) and pulley respectively with elastic element (15) are connected.
2. A wide range of varying stiffness robot wrist according to claim 1, wherein: the upper platform (10) and the lower platform (8) are also provided with a limiting assembly, the limiting assembly comprises an upper limiting block (13) and a lower limiting block (12), and the upper limiting block (13) and the lower limiting block (12) are respectively hinged to the upper platform (10) and the lower platform (8).
3. A wide range of varying stiffness robot wrist according to claim 1, wherein: branched chain structure includes go up fishplate bar (9) and lower fishplate bar (7), go up fishplate bar (9) simultaneously with go up platform (10) with fishplate bar (7) are articulated down, lower fishplate bar (7) with lower platform (8) are articulated.
4. A wide range of varying stiffness robot wrist according to claim 1, wherein: an actuator (19) is arranged on the upper platform (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111078245.2A CN113858257B (en) | 2021-09-15 | 2021-09-15 | Robot wrist with large-range variable rigidity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111078245.2A CN113858257B (en) | 2021-09-15 | 2021-09-15 | Robot wrist with large-range variable rigidity |
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| Publication Number | Publication Date |
|---|---|
| CN113858257A true CN113858257A (en) | 2021-12-31 |
| CN113858257B CN113858257B (en) | 2023-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111078245.2A Active CN113858257B (en) | 2021-09-15 | 2021-09-15 | Robot wrist with large-range variable rigidity |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116728034A (en) * | 2023-06-14 | 2023-09-12 | 盐城奥凯明通阀门有限公司 | Automatic flexible assembly equipment and assembly method for variable-rigidity valve ball |
Citations (4)
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|---|---|---|---|---|
| US20030005786A1 (en) * | 2001-07-05 | 2003-01-09 | Microdexterity Systems, Inc. | Parallel mechanism |
| DE102007004379A1 (en) * | 2007-01-29 | 2008-07-31 | Robert Bosch Gmbh | Object displacing and positioning device e.g. delta robot, has connecting bars stabilizing connected ball joints that are made of elastic material and connected together by pre-tensioning element, which is made of rigid material |
| CN109048987A (en) * | 2018-09-21 | 2018-12-21 | 南京理工大学 | A kind of parallel flexible waist mechanism |
| CN111496840A (en) * | 2020-06-11 | 2020-08-07 | 山东大学 | Multi-degree-of-freedom variable-rigidity robot joint based on integral tensioning structure and working method thereof |
-
2021
- 2021-09-15 CN CN202111078245.2A patent/CN113858257B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030005786A1 (en) * | 2001-07-05 | 2003-01-09 | Microdexterity Systems, Inc. | Parallel mechanism |
| DE102007004379A1 (en) * | 2007-01-29 | 2008-07-31 | Robert Bosch Gmbh | Object displacing and positioning device e.g. delta robot, has connecting bars stabilizing connected ball joints that are made of elastic material and connected together by pre-tensioning element, which is made of rigid material |
| CN109048987A (en) * | 2018-09-21 | 2018-12-21 | 南京理工大学 | A kind of parallel flexible waist mechanism |
| CN111496840A (en) * | 2020-06-11 | 2020-08-07 | 山东大学 | Multi-degree-of-freedom variable-rigidity robot joint based on integral tensioning structure and working method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 房立金;张明;孙凤;?宏一;: "绳索驱动式变刚度关节柔顺控制与力补偿方法研究" * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116728034A (en) * | 2023-06-14 | 2023-09-12 | 盐城奥凯明通阀门有限公司 | Automatic flexible assembly equipment and assembly method for variable-rigidity valve ball |
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| CN113858257B (en) | 2023-03-31 |
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