CN202781147U - Line-driven robot with ultra-redundant degrees of freedom - Google Patents

Abstract

The utility model discloses a line-driven robot with ultra-redundant degrees of freedom and relates to the robot with the ultra-redundant degrees of freedom. The line-driven robot with the ultra-redundant degrees of freedom solves the problems that an existing robot with the ultra-redundant degrees of freedom is high in manufacturing cost and joints with multiple degrees of freedom of the existing robot is difficult to drive. A motor (10) is fixedly connected with a box body (9) through a supporting seat (12), a pulley (11) is fixedly installed on the motor (10), a set of connecting rods are hinged through hook hinges (3), cross intersected arc-shaped rods (5) which bend downward are fixedly installed on a connecting rod (2) at the upper-most end and a middle connecting rod (13), a cross straight rod (6) is fixedly installed on a connecting rod (14) at the lower-most end, annular lugs (4) are fixedly installed at four top ends of the cross intersected arc-shaped rods (5) which bend downward, hoses (7) are fixedly installed between pipe holes in four end portions of the cross intersected arc-shaped rods (5) which bend downward and four end portions of the cross straight rod (6) and pipe holes in the supporting seat (12), cotton ropes (8) are installed inside the hoses (7), a rivalry cotton rope pair is formed by two cotton ropes (8) on a same horizontal plane and are at a distance of 180 degrees, and the lower ends of the rivalry cotton rope pairs are connected and twined on the pulley (11). The line-driven robot with the ultra-redundant degrees of freedom has more ultra-redundant degrees of freedom, is low in cost, and easy to realize.

Description

Line driven ultra-redundant degree of freedom robot

Technical field

The present invention relates to a kind of ultra-redundant degree of freedom robot.

Background technology

Ultra-redundant degree of freedom robot is to propose for solving the relatively poor problem of traditional serial machine people flexibility, it makes the joint space dimension much larger than the task space dimension by increasing in large quantities redundant joint quantity, the introducing in redundant joint makes robot in the terminal pose of realizing expectation, has higher flexibility.This robot is especially suitable for use as: the flexible operating device under (1) non-structure environment, a large amount of redundant joints can make robot be out of shape to adapt to non-structured small space environment flexibly, and possessing the superpower barrier ability of keeping away, this can make it suitable to specialized robot.Can be used as such as ultra-redundant degree of freedom robot and to pass the rubble rubble behind the earthquake disaster and seek the lifesaving robot that rescues the survivor, nuclear reactor inspection machine people etc.(2) manipulator of the irregular object of crawl namely adopts full arm Grasp Modes to grasp large-size and irregular object.Therefore can be installed in ultra-redundant degree of freedom robot on autonomous humanoid robot vehicle or the mobile robot, as the service robot in the fields such as explosive-removal robot and communications and transportation.

At present the ultra-redundant degree of freedom robot of research adopts motor direct-drive more, namely directly motor is placed on the cradle head place or is built in the joint, directly drives cradle head and rotates.This mode needs little, the lightweight micro motor of volume; limited the power of robot, also manufacturing cost increased; and motor-driven joint generally all is the single-degree-of-freedom cradle head, realizes that the driving of multi-freedom joint is very difficult, usually can make the structure complicated of robot.Adopting the remote line type of drive is an effective way that addresses the above problem.

Summary of the invention

The purpose of this invention is to provide a kind of line driven ultra-redundant degree of freedom robot, it can solve existing ultra-redundant degree of freedom robot and have the manufacturing cost height, realizes that multi-freedom joint drives hard problem.

The present invention includes drive unit, connecting rod, Hooke hinge, ring ear, reclinate right-angled intersection bow, cross straight-bar, flexible pipe, cotton rope, straight-bar; Described drive unit is comprised of casing, motor, pulley, bearing, base plate; It is interior and affixed by bearing and casing that described one group of motor is contained in casing, be fixed with pulley on the output shaft of motor, the lower surface of casing and the upper surface of base plate are affixed, described one group of connecting rod vertically is a word setting, hinged by the Hooke hinge between adjacent two connecting rods, be fixed with respectively reclinate right-angled intersection bow on connecting rod topmost and each intermediate connecting rod, reclinate right-angled intersection bow is consistent with the direction of the cross axis of Hooke hinge, and the bottom face of each reclinate right-angled intersection bow is positioned at the central plane of the cross axle of Hooke hinge, be fixed with horizontally disposed cross straight-bar on the connecting rod bottom, the cross straight-bar is consistent with the direction of the cross axis of Hooke hinge, and the cross straight-bar is packed on four parallel and symmetrical straight-bars, the lower end of four straight-bars and the upper surface of casing are affixed, four tops of each reclinate right-angled intersection bow are fixed with the ring ear, four ends of the reclinate right-angled intersection bow on the intermediate connecting rod and four ends of cross straight-bar are provided with pore, be fixed with flexible pipe between the pore on each pore and the bearing, every flexible pipe is in-built cotton rope, 180 ° two cotton ropes of being separated by in the same level face consist of antagonism lines pair, the right lower end of antagonism line links together, two pairs of antagonism lines in the same plane are to being symmetrical arranged in casing and being wrapped in respectively on the corresponding pulley, and the ring ear on the upper end that the antagonism line is right and the adjacent upper reclinate right-angled intersection bow is affixed.

The present invention has following beneficial effect: one, line driven ultra-redundant degree of freedom robot of the present invention, because whole robot is in series by the Hooke hinge by several connecting rods, each connecting rod, reclinate right-angled intersection bow be by the long-range driving of motor-driven pulley driving cotton rope, can make independent rotation around X, Y diaxon with respect to the adjacent connecting rod of its lower end.Two, because the outer surface cover of cotton rope has flexible pipe (sleeve pipe that this hose overlaps like the bicycle brake line outside), and the flexible pipe two ends are fixed, and mid portion is curved arrangement arbitrarily, during cotton rope in the pulling flexible pipe not can to flexible pipe intermediate connecting rod generation pulling force and the moment of flexure of process.Three, because the present invention has more redundant degree of freedom, therefore have higher flexibility, the stronger barrier ability of keeping away, can adapt to better non-structure environment; Owing to adopt long-range cotton rope to drive, lower, the easy realization of its cost also has very high practical value simultaneously.

Description of drawings

Fig. 1 is overall structure front view of the present invention, Fig. 2 is connecting rod topmost and Hooke hinge, reclinate right-angled intersection bow, the front view that circular rod and ring ear are assembled together, Fig. 3 is intermediate connecting rod and Hooke hinge, reclinate right-angled intersection bow, the front view that circular rod and ring ear are assembled together, Fig. 4 is connecting rod and the front view that is assembled together of cross straight-bar and circular rod bottom, Fig. 5 is the stereogram that intermediate connecting rod and reclinate right-angled intersection bow and circular rod are assembled together, Fig. 6 is that the master that intermediate connecting rod and reclinate right-angled intersection bow and circular rod are assembled together looks cutaway view, Fig. 7 is the top view of Fig. 6, Fig. 8 is that the master of drive unit looks cutaway view, Fig. 9 is the M-M cutaway view of Fig. 8, Figure 10 is the N-N cutaway view of Fig. 8, and Figure 11 is the approximately equalised graph of a relation of the right stroke of antagonism line.

The specific embodiment

The specific embodiment one: in conjunction with Fig. 1 ~ Figure 10 present embodiment is described, present embodiment is comprised of drive unit 1, connecting rod, Hooke hinge 3, ring ear 4, reclinate right-angled intersection bow 5, cross straight-bar 6, flexible pipe 7, cotton rope 8, straight-bar 17; Described drive unit 1 is comprised of casing 9, motor 10, pulley 11, bearing 12, base plate 18; It is interior and affixed by bearing 12 and casing 9 that described one group of motor 10 is contained in casing 9, be fixed with pulley 11 on the output shaft of motor 10, the upper surface of the lower surface of casing 9 and base plate 18 is affixed, described one group of connecting rod vertically is a word setting, cut with scissors 3 hinged between adjacent two connecting rods by Hooke, be fixed with respectively reclinate right-angled intersection bow 5 on connecting rod topmost 2 and each intermediate connecting rod 13, reclinate right-angled intersection bow 5 is consistent with the direction of the cross axis of Hooke hinge 3, and the bottom face of each reclinate right-angled intersection bow 5 is positioned at the central plane of the cross axle of Hooke hinge 3, be fixed with horizontally disposed cross straight-bar 6 on the connecting rod 14 bottom, cross straight-bar 6 is consistent with the direction of the cross axis of Hooke hinge 3, and cross straight-bar 6 is packed on four parallel and symmetrical straight-bars 17, the upper surface of the lower end of four straight-bars 17 and casing 9 is affixed, four tops of each reclinate right-angled intersection bow 5 are fixed with ring ear 4, four ends of the reclinate right-angled intersection bow 5 on the intermediate connecting rod 13 and four ends of cross straight-bar 6 are provided with pore, be fixed with flexible pipe 7 between the pore on each pore and the bearing 12, every flexible pipe 7 is in-built cotton rope 8,180 ° two cotton ropes 8 of being separated by in the same level face consist of antagonism lines pair, the right lower end of antagonism line links together, two pairs of antagonism lines in the same plane are to being symmetrical arranged in casing 9 and being wrapped in respectively on the corresponding pulley 11, and the ring ear 4 on the upper end that the antagonism line is right and the adjacent upper reclinate right-angled intersection bow 5 is affixed.So arrange, each connecting rod can both be around the X of its lower end Hooke hinge, Y-axis is done the rotation of two-freedom, and four cotton rope application points of same reclinate right-angled intersection bow are positioned on the extended line of cross axle of lower end Hooke hinge, and along the circumferential direction distribute symmetrically, therefore 180 ° two cotton ropes of being separated by form antagonism lines pair, this antagonism line is to one of them cotton rope elongation, another shortening, make connecting rod, reclinate right-angled intersection bow rotates around an axle of the cross axle of Hooke hinge together, because the cotton rope application point is positioned on the extended line of this axle and is arranged symmetrically with above-mentioned elongation and shortening amount approximately equal.

The specific embodiment two: in conjunction with Fig. 1 present embodiment is described, the difference of present embodiment and the specific embodiment one is: present embodiment also increases one group of circular rod 15; Be set with circular rod 15 on described each connecting rod, and circular rod 15 is positioned at the central plane of the cross axle of Hooke hinge 3, the circular rod 15 that is sleeved on the circular rod 15 on the connecting rod 2 topmost and is sleeved on each intermediate connecting rod 13 is affixed with corresponding reclinate right-angled intersection bow 5 respectively, and the circular rod 15 that is sleeved on the connecting rod 14 bottom is affixed with cross straight-bar 6.So arrange, can play the effect of reinforcing and improving rigidity to connecting rod, reclinate right-angled intersection bow and cross straight-bar.

The specific embodiment three: in conjunction with Fig. 8 present embodiment is described, the difference of present embodiment and the specific embodiment one is: present embodiment also increases total spool 16; Described total spool 16 is packed in the centre bore of casing 9 upper surfaces, and described all flexible pipes 7 all pass total spool 16 and are contained in the casing 9.So arrange, can play the effect of protection flexible pipe.

During work, the flexible pipe of one side is banded together, form altogether four bundles, and then pass total spool and enter in the casing separately, the right lower end of antagonism line on the same reclinate right-angled intersection bow couples together on the single pulley of rear winding, and two antagonism lines are upwards drawn from the both sides of pulley during winding.When stepper motor band movable pulley forward, the antagonism linear shrinkage of a side, the simultaneously antagonism line of opposite side elongation drives the connecting rod that drives, the rotation of reclinate right-angled intersection bow positive direction; When stepper motor band movable pulley reverses, the elongation of the antagonism line of a side, the simultaneously antagonism linear shrinkage of opposite side drives the connecting rod, the reclinate right-angled intersection bow counter-rotation that drive.The total quantity of connecting rod can increase and decrease according to the needs of practical application in this robot in addition.

Below in conjunction with Figure 11 elongation and the approximately equalised relation of amount of contraction that the antagonism line is right is described, as shown in figure 11, FG is the upper level connecting rod, and EF is adjacent next stage connecting rod, the central point that F cuts with scissors for the Hooke that connects connecting rod FG and EF.D and C are two ring ears on the connecting rod FG, and A and B are the upper corresponding pore of connecting rod EF.AD and BC are a pair of antagonism line, are used for drive link FG and rotate relative to connecting rod EF.When initial position, AD and BC equal in length and be initial length all, so DC is in horizontal direction; Then spur the BC linear shrinkage, the elongation of AD line, the axle (vertical paper direction) of drivening rod FG in the Hooke hinge of ordering by F turns over the θ angle and arrives FG ' position.If mechanism size is: | DC|=|AB|=d, | DF|=|CF|=|AE|=|BE|=d/2, | AD|=|EF|=|BC|=h.Then

The elongation of AD cotton rope is ${\mathrm{\Δl}}_1=\left|{\mathrm{AD}}^{\′}\right|-\left|\mathrm{AD}\right|=\sqrt{d^2{(1-\cos \mathrm{\θ})}^2/4+{(h+d\sin \mathrm{\θ}/2)}^2}-h$

The amount of contraction of BC cotton rope is ${\mathrm{\&Delta;<figure-callout\; id="2"\; label="l"\; filenames="DEST\_PATH\_HDA00002387611700012.png"\; state="\{\{state\}\}">l</figure-callout>}}_2=\left|\mathrm{BC}\right|-\left|{\mathrm{BC}}^{\&prime;}\right|=h-\sqrt{d^2{(1-\cos \mathrm{\&theta;})}^2/4+{(h-d\sin \mathrm{\&theta;}/2)}^2}$

The difference of elongation and amount of contraction is Δ=Δ l ₁-Δ l ₂, expression is:

$\mathrm{\&Delta;}=\sqrt{d^2{(1-\cos \mathrm{\&theta;})}^2/4+{(h+d\sin \mathrm{\&theta;}/2)}^2}+\sqrt{d^2{(1-\cos \mathrm{\&theta;})}^2/4+{(h-d\sin \mathrm{\&theta;}/2)}^2}-2h$

Can calculate when the different schemes lower link rotational angle theta=10 °, 30 °, 45 ° according to above-mentioned formula, the elongation that the antagonism line is right and the difference DELTA of amount of contraction see Table respectively 1, shown in the table 2, table 3.Each table has all provided the Δ value of (d and h get the different size value) under the different schemes, and the unit of each numerical value is cm in the table.

Table 1

Table 2

Table 3

By data in the above-mentioned table as can be known, get 4,8,10 at d, 12cm, h gets 15,20, in the situation of 30cm, and the difference of the stroke that all antagonism lines are right is the max{ Δ to the maximum }≤0.22cm, visible difference is very little, can think the stroke approximately equal.Therefore can couple together the right lower end of antagonism line, be wrapped on the same pulley, above-mentioned difference can by the elasticity auto-compensation of rope, drive the single axle rotation that this pulley just can be realized connecting rod with single stepper motor.

Claims (3)

1. a line driven ultra-redundant degree of freedom robot is characterized in that it comprises drive unit (1), connecting rod, Hooke hinge (3), ring ear (4), reclinate right-angled intersection bow (5), cross straight-bar (6), flexible pipe (7), cotton rope (8), straight-bar (17); Described drive unit (1) is comprised of casing (9), motor (10), pulley (11), bearing (12), base plate (18); It is interior and affixed by bearing (12) and casing (9) that described one group of motor (10) is contained in casing (9), be fixed with pulley (11) on the output shaft of motor (10), the upper surface of the lower surface of casing (9) and base plate (18) is affixed, described one group of connecting rod vertically is a word setting, hinged by Hooke hinge (3) between adjacent two connecting rods, be fixed with respectively reclinate right-angled intersection bow (5) on connecting rod (2) topmost and each intermediate connecting rod (13), reclinate right-angled intersection bow (5) is consistent with the direction of the cross axis of Hooke hinge (3), and the bottom face of each reclinate right-angled intersection bow (5) is positioned at the central plane of the cross axle of Hooke hinge (3), be fixed with horizontally disposed cross straight-bar (6) on the connecting rod bottom (14), cross straight-bar (6) is consistent with the direction of the cross axis of Hooke hinge (3), and cross straight-bar (6) is packed on four parallel and symmetrical straight-bars (17), the upper surface of the lower end of four straight-bars (17) and casing (9) is affixed, four tops of each reclinate right-angled intersection bow (5) are fixed with ring ear (4), four ends of the reclinate right-angled intersection bow (5) on the intermediate connecting rod (13) and four ends of cross straight-bar (6) are provided with pore, be fixed with flexible pipe (7) between the pore on each pore and the bearing (12), every flexible pipe (7) is in-built cotton rope (8), 180 ° two cotton ropes (8) of being separated by in the same level face consist of antagonism line pair, the right lower end of antagonism line links together, two pairs of antagonism lines in the same plane are to being symmetrical arranged and being wrapped in respectively in casing (9) on the corresponding pulley (11), and the ring ear (4) on the upper end that the antagonism line is right and the adjacent upper reclinate right-angled intersection bow (5) is affixed.

2. line driven ultra-redundant degree of freedom robot according to claim 1 is characterized in that it also comprises one group of circular rod (15); Be set with circular rod (15) on described each connecting rod, and circular rod (15) is positioned at the central plane of the cross axle of Hooke hinge (3), the circular rod (15) that is sleeved on the circular rod (15) on the connecting rod (2) topmost and is sleeved on each intermediate connecting rod (13) is affixed with corresponding reclinate right-angled intersection bow (5) respectively, and the circular rod (15) that is sleeved on the connecting rod (14) bottom is affixed with cross straight-bar (6).

3. line driven ultra-redundant degree of freedom robot according to claim 1 is characterized in that it also comprises total spool (16); Described total spool (16) is packed in the centre bore of casing (9) upper surface, and described all flexible pipes (7) all pass total spool (16) and are contained in the casing (9).

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