CN205704261U - Reconfigurable rope drives series connection decoupling mechanical arm revolute joint and elevation rotary joint - Google Patents

Reconfigurable rope drives series connection decoupling mechanical arm revolute joint and elevation rotary joint Download PDF

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Publication number
CN205704261U
CN205704261U CN201620319582.4U CN201620319582U CN205704261U CN 205704261 U CN205704261 U CN 205704261U CN 201620319582 U CN201620319582 U CN 201620319582U CN 205704261 U CN205704261 U CN 205704261U
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China
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rope
joint
driving
drivewheel
gear
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CN201620319582.4U
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Chinese (zh)
Inventor
印亮
蒋素荣
张超
白东明
吴洪涛
陈柏
吴志恒
张磊
殷杰
华达人
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Abstract

The utility model discloses a kind of reconfigurable rope and drive series connection decoupling mechanical arm revolute joint and elevation rotary joint, solve joint series rope and drive each interarticular motion coupled problem of mechanical arm.And based on this decoupling mechanism, devise two distinct types of modularity rope and drive joint.According to the demand of goal task, the rotation type in conversion joint, the number of increase and decrease joint of mechanical arm, it is achieved the assembling of multiple configuration mechanical arm, this application mode applied range, it is achieved low cost.Owing to this mechanical arm driver element is placed at pedestal, use rope remote boot server, reduce the rotary inertia in joint, improve the response characteristic of driving.Further, the compliance of rope will be greatly promoted the safety of mechanical arm and environmental interaction.Rope of the present utility model drives modularized joint compact conformation, and rotary inertia is low, drive response fast, and joints' compliance is good, and secure interactive is good.

Description

Reconfigurable rope drives series connection decoupling mechanical arm revolute joint and elevation rotary joint
Technical field
This utility model relates to robot field, and a kind of reconfigurable rope drives series connection decoupling mechanical arm revolute joint and elevation rotary joint.
Background technology
The mechanical arm volume mass being widely used at present is big, structure is complicated, rigidity is high, joints' compliance is poor, low with environmental interaction safety.Further, robot load is low from anharmonic ratio, captures load power consumption big, and efficiency is low.In order to reduce weight and the rotary inertia of mechanical arm, improving mechanical arm and load from anharmonic ratio, in recent years, a lot of research worker propose novel rope actuation techniques.
Rope actuation techniques uses rope transmitting movement and power.Motor, driving means are mainly all arranged on pedestal by it, by rope transmitting movement and power to joint, it is achieved the motion in joint.Because driver element is external, and using rope drive, the quality of mechanical arm and volume can be greatly reduced.
And by external for driver element, the problem that simultaneously can introduce articular couple.So-called joint motions coupling refers to that the motion in a joint causes the subsidiary motion in another joint.In rope drives cascade machine mechanical arm, rope can cause the driving rope in joint, rear end incidentally to change when driving front end joint motions, and then causes the subsidiary rotation in joint.Two kinds of methods are mainly had: one, using motion control arithmetic to carry out actively and decouple, along with increasing of joint, the complexity of control algolithm sharply increases currently for joint decoupling;Two, using lasso trick transmission, there is not motion coupling phenomenon, but it is relatively big to rub between rope and lasso trick, and there is the nonlinear characteristics such as dead band, gap, sluggishness, control accuracy and the dynamic response characteristic of mechanical arm are difficult to ensure that.Accordingly, it would be desirable to a kind of new technical scheme is to solve the problems referred to above.
By the literature search of prior art is found, China Patent No.: CN102672715A, title: one is help the disabled/helped the elderly and drives mechanical arm with rope, this patent disclosure one is help the disabled/is helped the elderly and drives mechanical arm with rope, the driving motor of each cradle head of mechanical arm is arranged in base driving box, utilize rope drive system that the power driving motor is passed to each cradle head, it is achieved the driving to cradle head.But, this mechanical arm uses lasso trick driving mechanism, it is difficult to reducing the friction between rope and sleeve in transmission process, and there is many nonlinear characteristics such as dead band, gap, sluggishness, the control accuracy of mechanical arm, dynamic characteristic are difficult to ensure that.Other some documents, such as: publication number CN102941573, entitled a kind of rope drives articulated robot, publication number 1995777A, the entitled wire cable transmission mechanism for mechanical arm.Cascade machine mechanical arm based on rope drive has been done some useful work by them, but the coupled problem of the most unresolved series connection joint rope motion.
Accordingly, it would be desirable to a kind of new technical scheme is to solve the problems referred to above.
Utility model content
In order to improve the load of robot from anharmonic ratio, and solving series connection rope and drive each interarticular motion coupled problem of mechanical arm, this utility model provides two kinds of modular ropes based on rope mobile decoupling mechanism and drives rotary joint and method thereof.
The reconfigurable rope of one that this utility model relates to drives series connection decoupling mechanical arm revolute joint, it is characterised in that:
Including revolution pedestal, pivoted link, rope mobile decoupling mechanism, leading block, pivoted link loading bearing;The wherein rotation axis of revolute joint and pivoted link dead in line;
The most above-mentioned rope mobile decoupling mechanism realizes driving rear end the mobile decoupling of rope, it is achieved revolute joint and the mobile decoupling in joint, rear end, includes fast pulley, supporting roller, planet circular system, drivewheel the most successively;Fast pulley is fixed from rotating, and drivewheel can rotate around its center axis;Supporting roller includes supporting roller main body;
Above-mentioned epicyclic train includes fixed gear, driving gear, left planetary gear and right planetary gear;The modulus of each gear is identical, and fixed gear is identical with the driving gear number of teeth, and left planetary gear is identical with right lateral star number of gear teeth;Fixed gear is connected with fast pulley, and driving gear is connected with drivewheel, and left planetary gear and right planetary gear are mounted on supporting roller main body, can rotate around axis but move along own axes direction and be restricted;Left planetary gear and right planetary gear are by limiting the axially-movable of supporting roller with fixed gear, engaging of driving gear and circumferentially rotate;
This mechanism also includes the left driving in joint, rear end rope, the right driving in joint, rear end rope;The left driving in joint rope, the right driving in joint rope;
Above-mentioned supporting roller includes supporting roller main body, wire disk on front side of the installed in front of supporting roller main body, wire disk on rear side of rear side installation, front side wire disk is identical with rear side wire disk structure, all it is machined with donut metallic channel, donut metallic channel rear end joint drive rope wire annular groove;Left fixed pulley module and right fixed pulley module are also installed above supporting roller main body;Left fixed pulley module and right fixed pulley module are the guiding fixed pulley of rear end joint drive rope;
Below above-mentioned fast pulley be provided with two through holes parallel with axle axis below drivewheel, and through hole carry out fillet process or install pulley be respectively used to the left driving in joint, above-mentioned rear end rope, the guiding of the right driving in joint, rear end rope;
The front end of the left driving in joint, above-mentioned rear end rope is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley afterwards, driving rope wire annular groove along front side wire disk arrives left fixed pulley module from bottom to top the most in the direction of the clock, commutate 180 degree through left fixed pulley module again, the most counterclockwise along rear side wire disk driving rope wire annular groove from top to bottom, after the corresponding through hole being then passed through on drivewheel, the end of left driving rope is connected with the swivel link in joint, rear end;
The front end of the right driving in joint, above-mentioned rear end rope is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley afterwards, driving rope wire annular groove along front side wire disk arrives right fixed pulley module from bottom to top the most counterclockwise, commutate 180 degree through right fixed pulley module again, the most in the direction of the clock along rear side wire disk driving rope wire annular groove from top to bottom, after the corresponding through hole being then passed through on drivewheel, the end of right driving rope is connected with the swivel link in joint, rear end;
The front end of the left driving in above-mentioned joint rope is connected with the driver element in joint, and rear end is connected with drivewheel, and joint left driving rope wrapped anti-clockwise is on drivewheel;The front end of the right driving in above-mentioned joint rope is connected with the driver element in joint, and rear end is connected with drivewheel, and joint right driving rope wound clockwise is on drivewheel;
Clockwise and counterclockwise described in said structure refers both to observe from front to back;
The fast pulley of above-mentioned rope mobile decoupling mechanism is fixing with the revolution pedestal in revolute joint to be connected, and drivewheel is fixed with pivoted link and is connected;Pivoted link loading bearing inner ring is arranged on pivoted link, and outer ring is arranged in the axis hole of revolution pedestal, uses circlip for shaft, the shaft shoulder to carry out axis and fix;Pivoted link loading bearing bears the axially and radially load of revolute joint;Leading block is fixedly mounted on revolution pedestal, and driving rope left to joint, joint right driving rope guide.
Utilize the driving of epicyclic train, it is achieved supporting roller angular velocity of satellite motion is the half of pivoted link angular velocity of rotation ω, is ω/2;And by left planetary gear, right planetary gear and fixed gear, the positive engagement of driving gear, it is achieved the forward and reverse reliable driving of supporting roller;
And be wound around by joint, rear end left driving rope and joint, rear end right driving rope forward and reverse circular arc cabling, realize joint, rear end left driving rope and joint, rear end right driving rope change in displacement rate is 2r times of supporting roller motion angular speed ω/2, wherein r is joint, the rear end left and right driving rope cabling radius along the driving rope wire annular groove on forward and backward wire disk, and ω is the angular velocity of rotation of pivoted link;
The end being rotated joint, the rear end left and right driving rope right-hand member caused by pivoted link will produce the displacement of+ω Δ tgr ,-ω Δ tgr, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;The right-hand member end being rotated joint, the rear end left and right driving rope caused by supporting roller will produce the displacement of-2rg ω/2g Δ t ,+2rg ω/2g Δ t, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;Both realize cancelling out each other;The most no matter pivoted link drives how drivewheel rotates, and the rear end of joint, rear end left driving rope and joint, the rear end right driving rope after decoupling mechanism and pivoted link are without relative displacement, it is achieved interarticular decoupling;
Above-mentioned revolute joint uses typical rope pair to draw driving;Revolution pedestal maintains static, and the front end of joint left driving rope and joint right driving rope is fixed with the driver element of revolute joint, and the rear end of rope consolidates with the drivewheel in rope mobile decoupling mechanism;Joint left driving rope and joint right driving rope is wrapped on drivewheel, and winding direction is contrary;The driving to revolute joint is realized by driving rope to draw to two, putting operation;During driving, draw, the rope length answered of being rivals in a contest equal, two ropes will not produce tight or lax phenomenon, it is ensured that the reliability of the forward and reverse driving in joint.
A kind of reconfigurable rope drives series connection decoupling mechanical arm elevation rotary joint, it is characterised in that:
Elevation rotary joint includes that pitching rotating basis, pitching swivel link, rope mobile decoupling mechanism, rear end drive the left leading block of rope, rear end to drive the right leading block of rope, pitching swivel link loading bearing;Wherein joint rotation axis is vertical with pitching swivel link axis;
The most above-mentioned rope mobile decoupling mechanism realizes driving rear end the mobile decoupling of rope, it is achieved elevation rotary joint and the mobile decoupling in joint, rear end, includes fast pulley, supporting roller, planet circular system, drivewheel the most successively;Fast pulley is fixed from rotating, and drivewheel can rotate around its center axis;Supporting roller includes supporting roller main body;
Above-mentioned epicyclic train includes fixed gear, driving gear, left planetary gear and right planetary gear;The modulus of each gear is identical, and fixed gear is identical with the driving gear number of teeth, and left planetary gear is identical with right lateral star number of gear teeth;Fixed gear is connected with fast pulley, and driving gear is connected with drivewheel, and left planetary gear and right planetary gear are mounted on supporting roller main body, can rotate around axis but move along own axes direction and be restricted;Left planetary gear and right planetary gear are by limiting the axially-movable of supporting roller with fixed gear, engaging of driving gear and circumferentially rotate;
This mechanism also includes the left driving in joint, rear end rope, the right driving in joint, rear end rope;The left driving in joint rope, the right driving in joint rope;
Above-mentioned supporting roller includes supporting roller main body, wire disk on front side of the installed in front of supporting roller main body, wire disk on rear side of rear side installation, front side wire disk is identical with rear side wire disk structure, all it is machined with donut metallic channel, donut metallic channel rear end joint drive rope wire annular groove;Left fixed pulley module and right fixed pulley module are also installed above supporting roller main body;Left fixed pulley module and right fixed pulley module are the guiding fixed pulley of rear end joint drive rope;Below above-mentioned fast pulley be provided with two through holes parallel with axle axis below drivewheel, and through hole carry out fillet process or install pulley be respectively used to the left driving in joint, above-mentioned rear end rope, the guiding of the right driving in joint, rear end rope;
The front end of the left driving in joint, above-mentioned rear end rope is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley afterwards, driving rope wire annular groove along front side wire disk arrives left fixed pulley module from bottom to top the most in the direction of the clock, commutate 180 degree through left fixed pulley module again, the most counterclockwise along rear side wire disk driving rope wire annular groove from top to bottom, after the corresponding through hole being then passed through on drivewheel, the end of left driving rope is connected with the swivel link in joint, rear end;
The front end of the right driving in joint, above-mentioned rear end rope is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley afterwards, driving rope wire annular groove along front side wire disk arrives right fixed pulley module from bottom to top the most counterclockwise, commutate 180 degree through right fixed pulley module again, the most in the direction of the clock along rear side wire disk driving rope wire annular groove from top to bottom, after the corresponding through hole being then passed through on drivewheel, the end of right driving rope is connected with the swivel link in joint, rear end;
The front end of the left driving in above-mentioned joint rope is connected with the driver element in joint, and rear end is connected with drivewheel, and joint left driving rope wrapped anti-clockwise is on drivewheel;The front end of the right driving in above-mentioned joint rope is connected with the driver element in joint, and rear end is connected with drivewheel, and joint right driving rope wound clockwise is on drivewheel;
Clockwise and counterclockwise described in said structure refers both to observe from front to back;
The fast pulley of above-mentioned rope mobile decoupling mechanism is fixing with the pitching rotating basis in elevation rotary joint to be connected, and drivewheel is fixed with pitching swivel link and is connected;Pitching swivel link loading bearing inner ring is arranged on pitching swivel link, outer ring is arranged in the axis hole of pitching rotating basis, limiting axial displacement by the shaft shoulder on pitching rotating basis, circlip, pitching swivel link loading bearing bears the axially and radially load of elevation rotary joint.Rear end drives the left leading block of rope to be fixed on pitching rotating basis, for the guiding to rear end joint drive rope;Rear end drives the right leading block of rope to be fixed on pitching swivel link, for the guiding to rear end joint drive rope.
Utilize the driving of epicyclic train, it is achieved supporting roller angular velocity of satellite motion is the half of pitching swivel link angular velocity of rotation ω, is ω/2;And by left planetary gear, right planetary gear and fixed gear, the positive engagement of driving gear, it is achieved the forward and reverse reliable driving of supporting roller;
And be wound around by joint, rear end left driving rope and joint, rear end right driving rope forward and reverse circular arc cabling, realize joint, rear end left driving rope and joint, rear end right driving rope change in displacement rate is 2r times of supporting roller motion angular speed ω/2, wherein r is joint, the rear end left and right driving rope cabling radius along the driving rope wire annular groove on forward and backward wire disk, and ω is the angular velocity of rotation of pitching swivel link;
The end being rotated joint, the rear end left and right driving rope right-hand member caused by pitching swivel link will produce the displacement of+ω Δ tgr ,-ω Δ tgr, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;The right-hand member end being rotated joint, the rear end left and right driving rope caused by supporting roller will produce the displacement of-2rg ω/2g Δ t ,+2rg ω/2g Δ t, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;Both realize cancelling out each other;The most no matter pitching swivel link drives how drivewheel rotates, and the rear end of joint, rear end left driving rope and joint, the rear end right driving rope after decoupling mechanism and pitching swivel link are without relative displacement, it is achieved interarticular decoupling;
Above-mentioned elevation rotary joint uses typical rope pair to draw driving;Pitching rotating basis maintains static, and the front end of joint left driving rope and joint right driving rope is fixed with the driver element of elevation rotary joint, the rear end of rope and the drivewheel consolidation in rope mobile decoupling mechanism;Joint left driving rope and joint right driving rope is wrapped on drivewheel, and winding direction is contrary;The driving to elevation rotary joint is realized by driving rope to draw to two, putting operation;During driving, draw, the rope length answered of being rivals in a contest equal, two ropes will not produce tight or lax phenomenon, it is ensured that the reliability of the forward and reverse driving in joint.
Compared with prior art, this utility model has the advantage that and effect:
The two kinds of ropes that the utility model proposes drive joint of mechanical arm, and its driver element is positioned at pedestal, uses rope remote boot server, and improve mechanical arm loads the driving response characteristic from anharmonic ratio and joint.This utility model couples for joint motions, devises a kind of rope mobile decoupling mechanism, simple and reliable, it is easy to accomplish.The motion that this mechanism realizes joint is independent, reduces the complexity of motion control arithmetic.Two kinds of modularity ropes of the present utility model drive joint of mechanical arm, and each joint all can realize the rotation of 0~300 ° of scope, and work space is big, and response performance is good.And in actual application, can be according to the requirement of operation target, the kind in conversion joint, the number of degrees of freedom, of increase and decrease mechanical arm, it is achieved the assembling of multiple configuration mechanical arm, applied range, it is achieved low cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of rope mobile decoupling mechanism;
Fig. 2 is the structural representation of revolute joint;
Fig. 3 is the structural representation of elevation rotary joint;
Fig. 4-1 is the first schematic diagram of each rope cabling in rope mobile decoupling mechanism, is specially decoupling rope and rear end drives the cabling schematic diagram of rope;
Fig. 4-2 is the second schematic diagram of each rope cabling, specially joint drive rope cabling schematic diagram in rope mobile decoupling mechanism;
Fig. 5 is the Uncoupled procedure schematic diagram that rear end drives rope, and wherein the left side is that drivewheel rotates, and rear end drives rope cabling schematic diagram;The right rotates for supporting roller, and rear end drives rope cabling schematic diagram;
Fig. 6-1 is the structural representation of the first configuration mechanical arm;
Fig. 6-2 is the structural representation of the second configuration mechanical arm;
Fig. 6-3 is the structural representation of the third configuration mechanical arm;
Fig. 6-4 is the structural representation of the 4th kind of configuration mechanical arm;
Fig. 6-5 is the structural representation of the 5th kind of configuration mechanical arm;
Fig. 7-1 is the structural representation of supporting roller at waist joint supporting roller and rope cabling the first schematic diagram, specially waist revolute joint;
Fig. 7-2 is the structural representation of each rope cabling at waist joint supporting roller and rope cabling the second schematic diagram, specially waist revolute joint;
Fig. 8-1 is the structural representation of supporting roller at shoulder joints supporting roller and rope cabling the first schematic diagram, specially shoulder pitch rotary joint;
Fig. 8-2 is the structural representation of each rope cabling at shoulder joints supporting roller and rope cabling the second schematic diagram, specially shoulder pitch rotary joint;
Label title in figure, 1 revolute joint;2 elevation rotary joint;3 rope mobile decoupling mechanisms;The rope of more than 4 kind of configuration drives mechanical arm;
11 revolution pedestals;12 pivoted links;13 leading blocks;14 pivoted link loading bearings;
21 pitching rotating basiss;22 pitching swivel link;23-1 rear end drives the left leading block of rope, and 23-2 rear end drives the right leading block of rope;24 pitching rotate loading bearing;
31 fast pulleys;32 supporting rollers;32-11 left fixed pulley module;32-12 right fixed pulley module;Wire disk on front side of 32-2;Wire disk on rear side of 32-3;32-4 supporting roller main body;33 drivewheels;34-1 fixed gear;34-2 driving gear;The left planetary gear of 34-3;The right planetary gear of 34-4;The left driving in 35-1 rear end rope;The right driving in 35-2 rear end rope;The left driving in 36-1 joint rope;The right driving in 36-2 joint rope;
41 articulated ropes drive mechanical arm;The first four-degree-of-freedom Joint Manipulator of 41-1;41-2 the second four-degree-of-freedom Joint Manipulator;41-3 Three Degree Of Freedom Joint Manipulator;42 wrist formula ropes drive mechanical arm;43SCARA formula rope drives mechanical arm;
51 waist revolute joints;52 shoulder pitch rotary joints;53 ancon elevation rotary joint, 54 wrist elevation rotary joint.
Detailed description of the invention
Accompanying drawing discloses the structural representation being preferable to carry out involved by this utility model without limitation, explains the technical solution of the utility model below with reference to accompanying drawing.
Refer to 1,4-1,4-2, shown in 5, it is provided that a kind of mechanism driving rope motion passive de-coupling driving cascade machine mechanical arm for rope.Rope mobile decoupling mechanism 3 includes fast pulley 31, supporting roller 32, planet circular system 34, drivewheel 33 the most successively;Fast pulley 31 is fixed from rotating, and drivewheel 33 can rotate around its center axis;Fixed gear 34-1 is connected with fast pulley 31, and driving gear 34-2 is connected with drivewheel 33;Supporting roller 32 is meshed by left planetary gear 34-3, right planetary gear 34-4 and driving gear 34-2, the fixed gear 34-1 being arranged in supporting roller main body 32-4, limits the axially-movable of supporting roller 32 and around axial rotation;
This mechanism also includes the left driving in joint, rear end rope 35-1, the right driving in joint, rear end rope 35-2;The left driving in joint rope 36-1, the right driving in joint rope 36-2;
Above-mentioned supporting roller 32 includes supporting roller main body 32-4, wire disk 32-2 on front side of the installed in front of supporting roller main body 32-4, wire disk 32-3 on rear side of rear side installation, wire disk 32-2 is identical with rear side wire disk 32-3 structure in front side, all it is machined with donut metallic channel, donut metallic channel rear end joint drive rope wire annular groove;Left fixed pulley module 32-11 and right fixed pulley module 32-12 are also installed above supporting roller main body 32-4;Left fixed pulley module 32-11 and right fixed pulley module 32-12 are the guiding fixed pulley of rear end joint drive rope;
Below above-mentioned fast pulley 31 be provided with two through holes parallel with axle axis below drivewheel 33, and through hole carry out fillet process or install pulley be respectively used to the left driving in joint, above-mentioned rear end rope 35-1, the guiding of the right driving in joint, rear end rope 35-2;
Above-mentioned epicyclic train 34 includes fixed gear 34-1, driving gear 34-2, left planetary gear 34-3 and right planetary gear 34-4;The modulus of each gear is identical, and fixed gear 34-1 is identical with the driving gear 34-2 number of teeth, and left planetary gear 34-3 is identical with the right planetary gear 34-4 number of teeth.Fixed gear 34-1 is connected with fast pulley 31, and driving gear 34-2 is connected with drivewheel 33, and left planetary gear 34-3 and right planetary gear 34-4 moves along own axes direction and is restricted, and can rotate around axis;Left planetary gear 34-3 and right planetary gear 34-4 is by limiting the axially-movable of supporting roller 32 with fixed gear 34-1, engaging of driving gear 34-2 and circumferentially rotate;
The front end of the left driving in joint, above-mentioned rear end rope 35-1 is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley 31 afterwards, driving rope wire annular groove along front side wire disk 32-2 arrives left fixed pulley module 32-11 from bottom to top the most in the direction of the clock, commutate 180 degree through left fixed pulley module 32-11 again, the most counterclockwise along rear side wire disk 32-3 driving rope wire annular groove from top to bottom, after the corresponding through hole being then passed through on drivewheel 33, the left end of driving rope 35-1 is connected with the swivel link in joint, rear end;
The front end of the right driving in joint, above-mentioned rear end rope 35-2 is for being connected with the driver element in joint, rear end;Initially pass through the corresponding through hole on fast pulley 31 afterwards, driving rope wire annular groove along front side wire disk 32-2 arrives right fixed pulley module 32-12 from bottom to top the most counterclockwise, commutate 180 degree through right fixed pulley module 32-12 again, the most in the direction of the clock along rear side wire disk 32-3 driving rope wire annular groove from top to bottom, after the corresponding through hole being then passed through on drivewheel 33, the right end of driving rope 35-2 is connected with the swivel link in joint, rear end;
The front end of the left driving in above-mentioned joint rope 36-1 is connected with the driver element in joint, and rear end is connected with drivewheel 33, and the left driving in joint rope 36-1 wrapped anti-clockwise is on drivewheel 33;The front end of the right driving in above-mentioned joint rope 36-2 is connected with the driver element in joint, and rear end is connected with drivewheel 33, and the right driving in joint rope 36-2 wound clockwise is on drivewheel 33;
Clockwise and counterclockwise described in said structure refers both to observe from front to back;
Above-mentioned epicyclic train 34, driving gear 34-1 is identical with the fixed gear 34-2 number of teeth, left planetary gear 34-3, right planetary gear 34-4 engage with fixed gear 34-2 with driving gear 34-1, the angular velocity understanding supporting roller 32 rotation is left planetary gear 34-3, the revolution angular velocity of right planetary gear 34-4, the gear ratio i=1+z of planetary gear revolution tie-rodGu/zMain=2, it follows that angular velocity is drivewheel 33 rotating speed the 1/2 of supporting roller 32 rotation.
The left driving in above-mentioned rear end rope 35-1, the right driving in rear end rope 35-2, owing to the left driving in rear end rope 35-1, the right driving in rear end rope 35-2 are wound around along the guiding annular groove on front side wire disk 32-2, rear side wire disk 32-3, and the driving rope guide ring groove radius on front side wire disk 32-2, rear side wire disk 32-3 is equal, it is r, so 2r times that supporting roller 32 rotates the left driving in the rear end rope 35-1 that causes, the rate of change of the right driving in rear end rope 35-2 right end is supporting roller turning rate.When drivewheel 33 is with direction shown in Fig. 1, when ω angular velocity rotates, by the guiding of through hole on drivewheel 33, the left driving in rear end rope 35-1 departs from along the guiding annular groove on rear side wire disk 32-3, the right end of the left driving in rear end rope 35-1 produces+ω Δ tgr displacement, and the right driving in rear end rope 35-2 is wound around along the guiding annular groove on rear side wire disk 32-3, the right end of the right driving in rear end rope 35-2 produces-ω Δ tgr displacement, and (ω is the angular velocity of rotation of drivewheel 33, r is front side wire disk 32-2, rope is driven to guide the radius of annular groove on rear side wire disk 32-3, in Fig. 5 with along rope direction upwards for just).As Fig. 4-1,4-2, shown in 5, due to the driving of epicyclic train 34, supporting roller 32 follows drivewheel 33 rotating in same direction with ω/2 angular velocity, the angle ω Δ t/2 that supporting roller rotates.Because the rotation of supporting roller 32, the left driving in rear end rope 35-1, the speed of the right driving in rear end rope 35-2 right end are 2r times of supporting roller angular speed, so the displacement size of the right end of the left driving in rear end rope 35-1, the right driving in rear end rope 35-2 is ω Δ t/2g2r=ω Δ tgr.The rotation of supporting roller, causes rear end left driving rope 35-1 to may proceed to along the guiding annular groove on front side, rear side wire disk and is wound around, and coiling length is ω Δ tgr, namely the right-hand member of the left driving in rear end rope 35-1 will produce-ω Δ tgr displacement.A part of the right driving in rear end rope 35-2 will depart from along the guiding annular groove on front side, rear side wire disk, the right-hand member departing from a length of ω Δ tgr, the namely right driving in rear end rope 35-2 will produce+ω Δ tgr displacement (being just upwards along rope direction in Fig. 5).The left driving in rear end rope 35-1, the right driving in rear end rope 35-2 are after decoupling module, without relative movement between end on the right side of them and drivewheel 33, namely the rope 35 that drives in joint, rear end does not produces relative movement because of the rotation of drivewheel 33, it is achieved that the passive de-coupling of rope motion;
Refer to shown in Fig. 2, the revolute joint 1 driven based on rope, the rotation axis in its joint and pivoted link 12 central axes.Revolute joint 1 includes turning round pedestal 11, pivoted link 12, rope mobile decoupling mechanism 3, leading block 13, pivoted link loading bearing 14.Rope mobile decoupling mechanism 3 realizes driving rear end the mobile decoupling of rope, it is achieved the mobile decoupling in revolute joint 1 and joint, rear end.The fast pulley 31 of above-mentioned rope mobile decoupling mechanism 3 is fixing with the revolution pedestal 11 in revolute joint 1 to be connected, and drivewheel 33 is fixed with pivoted link 12 and is connected.Pivoted link loading bearing 14 inner ring is arranged on pivoted link 12, and outer ring is arranged in the axis hole of revolution pedestal 11, uses circlip for shaft, the shaft shoulder to carry out axis and fix;Pivoted link loading bearing 14 bears the axially and radially load of revolute joint 1;Leading block 13 is fixedly mounted on revolution pedestal 11, and driving rope 36-1 left to joint, joint right driving rope 36-2 guide.The driving of above-mentioned revolute joint 1, use and drive rope pair to draw drive pattern, the left driving in joint rope 36-1, the right driving in joint rope 36-2 fix with drivewheel 33, by two ropes draw, put operation realize the driving to revolute joint 1, during driving, draw, the rope length answered of being rivals in a contest equal, two ropes will not produce tight or lax phenomenon, it is ensured that the reliability of the forward and reverse driving in joint.
Refer to shown in Fig. 3, elevation rotary joint 2, use rope to drive.Joint rotation axis is vertical with pitching swivel link 22 axis.Elevation rotary joint 2, including pitching rotating basis 21, pitching swivel link 22, rope mobile decoupling mechanism 3, rear end drives rope left leading block 23-1, and rear end drives rope right leading block 23-2, pitching swivel link loading bearing 24.Rope mobile decoupling mechanism 3 realizes driving rear end the mobile decoupling of rope, it is achieved the mobile decoupling in elevation rotary joint 2 and joint, rear end.The fast pulley 31 of above-mentioned rope mobile decoupling mechanism 3 is fixing with the pitching rotating basis 21 in elevation rotary joint 2 to be connected, and drivewheel 33 is fixed with pitching swivel link 22 and is connected.Pitching swivel link loading bearing 24 inner ring is arranged on pitching swivel link 22, outer ring is arranged in the axis hole of pitching rotating basis 21, limiting axial displacement by the shaft shoulder on pitching rotating basis, circlip, pitching swivel link loading bearing 24 bears the axially and radially load of elevation rotary joint 2.Rear end drives rope left leading block 23-1 to be fixed on pitching rotating basis 21, for the guiding to rear end joint drive rope;Rear end drives rope right leading block 23-2 to be fixed on pitching swivel link 22, for the guiding to rear end joint drive rope.Elevation rotary joint uses typical rope pair to draw drive pattern, is drawn by driving rope 36-1 left to joint, joint right driving rope 36-2, puts operation driving pitching swivel link 22.
Refering to Fig. 6-1 to shown in 6-5, for driving modular rotary joint based on two kinds of ropes, the rope of the multiple configuration of proposition drives mechanical arm structural representation.According to different operation tasks, composition articulated type, wrist type, the rope of SCARA formula configuration drive mechanical arm.Articulated rope drives mechanical arm 41 to be divided into Three Degree Of Freedom Joint Manipulator 41-3, the first four-degree-of-freedom Joint Manipulator 41-1, the second four-degree-of-freedom Joint Manipulator 41-2 by number of degrees of freedom,.Three Degree Of Freedom Joint Manipulator 41-3 is followed successively by revolute joint 1, elevation rotary joint 2, elevation rotary joint 2 from pedestal to mechanical arm tail end;The first four-degree-of-freedom Joint Manipulator 41-1 is followed successively by revolute joint 1, elevation rotary joint 2, elevation rotary joint 2, elevation rotary joint 2 from pedestal to mechanical arm tail end;The second four-degree-of-freedom Joint Manipulator 41-2 is followed successively by revolute joint 1, elevation rotary joint 2, elevation rotary joint 2, revolute joint 1 from pedestal to mechanical arm tail end;Wrist formula rope drives mechanical arm 42, and the rotation axis in three joints meets at a bit, containing three degree of freedom, respectively is revolute joint 1, elevation rotary joint 2, revolute joint 1;SCARA formula rope drives mechanical arm 43 to have three degree of freedom, is followed successively by revolute joint 1, revolute joint 1, revolute joint 1.
Refering to Fig. 6-1 to shown in 6-5, the first four-degree-of-freedom Joint Manipulator 41-1 is the first preferred embodiments.This mechanical arm includes waist revolute joint 51, shoulder pitch rotary joint 52, ancon elevation rotary joint 53, wrist elevation rotary joint 54.Waist revolute joint 51, rotates around vertical axle.Shoulder pitch rotary joint 52 makees elevating movement around trunnion axis, and ancon elevation rotary joint 53 makees elevating movement around trunnion axis, and wrist elevation rotary joint 54 makees elevating movement around trunnion axis.Rope mobile decoupling mechanism at waist revolute joint 51, realize waist revolute joint 51 and shoulder, ancon, the mobile decoupling of wrist elevation rotary joint, its supporting roller structural representation is as shown in Fig. 7-1, being wound with six roots of sensation rear end joint drive rope and two decoupling ropes on this supporting roller, the six roots of sensation drives rope to correspond to the driving rope of shoulder, ancon, wrist elevation rotary joint respectively.Four concentrically ringed troughs are had for rope cabling (, for rear end joint drive rope cabling, a trough is for decoupling the cabling of rope for three troughs) on supporting roller.Fig. 7-2 is the rope cabling schematic diagram at waist revolute joint 51;Rope mobile decoupling mechanism at shoulder pitch rotary joint 52, it is achieved shoulder pitch rotary joint 52 and ancon elevation rotary joint 53, the mobile decoupling of wrist elevation rotary joint 54, its supporting roller structural representation is as shown in Fig. 8-1.Four rear end joint drive ropes and two decoupling ropes it are wound with on this supporting roller, four drive the driving rope that rope corresponds to ancon, wrist elevation rotary joint respectively, three concentrically ringed troughs are had for rope cabling (, for rear end joint drive rope cabling, a trough is for decoupling the cabling of rope for two troughs) on supporting roller.Fig. 8-2 is the rope cabling schematic diagram at shoulder revolute joint 52;Rope mobile decoupling mechanism at ancon elevation rotary joint 53, it is achieved the mobile decoupling of ancon elevation rotary joint 53 and wrist elevation rotary joint 54.The supporting roller of its rope mobile decoupling mechanism is as shown in fig. 1.Wrist elevation rotary joint 54 is not because having joint, rear end, it is not necessary to decouple rope, so not having rope mobile decoupling mechanism in wrist elevation rotary joint 54.

Claims (2)

1. a reconfigurable rope drives series connection decoupling mechanical arm revolute joint, it is characterised in that:
Including turning round pedestal (11), pivoted link (12), rope mobile decoupling mechanism (3), leading block (13), Pivoted link loading bearing (14);The wherein rotation axis of revolute joint (1) and pivoted link (12) axis Overlap;
The most above-mentioned rope mobile decoupling mechanism (3) realizes driving rear end the mobile decoupling of rope, it is achieved Revolute joint (1) and the mobile decoupling in joint, rear end;Include fast pulley (31), supporting roller the most successively (32), planet circular system (34), drivewheel (33);Fast pulley (31) is fixed from rotating, drivewheel (33) Can rotate around its center axis;Supporting roller (32) includes supporting roller main body (32-4);
Above-mentioned epicyclic train (34) includes fixed gear (34-1), driving gear (34-2), left lateral star Gear (34-3) and right planetary gear (34-4);The modulus of each gear is identical, and fixed gear (34-1) Identical with driving gear (34-2) number of teeth, left planetary gear (34-3) and right planetary gear (34-4) number of teeth Identical;Fixed gear (34-1) is connected with fast pulley (31), driving gear (34-2) and drivewheel (33) Connecting, left planetary gear (34-3) and right planetary gear (34-4) are mounted on supporting roller main body (32-4), Can rotate around axis but move along own axes direction and be restricted;Left planetary gear (34-3) and right lateral star Gear (34-4) is by limiting supporting roller (32) with fixed gear (34-1), engaging of driving gear (34-2) Axially-movable and circumferentially rotate;
This mechanism also includes the left driving in joint, rear end rope (35-1), the right driving in joint, rear end rope (35-2);The left driving in joint rope (36-1), the right driving in joint rope (36-2);
Wire disk (32-2) on front side of the installed in front of above-mentioned supporting roller main body (32-4), leads on rear side of rear side installation Drum (32-3), front side wire disk (32-2) is identical with rear side wire disk (32-3) structure, is all machined with same Heart annulus metallic channel, donut metallic channel rear end joint drive rope wire annular groove;Supporting roller main body (32-4) Left fixed pulley module (32-11) and right fixed pulley module (32-12) are also installed in top;Left fixed pulley module (32-11) With the guiding fixed pulley that right fixed pulley module (32-12) is rear end joint drive rope;
Above-mentioned fast pulley (31) lower section and drivewheel (33) below be provided with two parallel with axle axis Through hole, and through hole carry out fillet process or install pulley be respectively used to the left driving in joint, above-mentioned rear end rope (35-1), The guiding of the right driving in joint, rear end rope (35-2);
The front end of the left driving in joint, above-mentioned rear end rope (35-1) is for being connected with the driver element in joint, rear end; Initially pass through the corresponding through hole on fast pulley (31) afterwards, more in the direction of the clock along front side wire disk (32-2) Driving rope wire annular groove arrive left fixed pulley module (32-11) from bottom to top, then through left fixed pulley module (32-11) commutate 180 degree, then driving rope along rear side wire disk (32-3) is led counterclockwise Wire loop groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (33), left driving rope (35-1) End is connected with the swivel link in joint, rear end;
The front end of the right driving in joint, above-mentioned rear end rope (35-2) is for being connected with the driver element in joint, rear end; Initially pass through the corresponding through hole on fast pulley (31) afterwards, more counterclockwise along front side wire disk (32-2) Driving rope wire annular groove arrive right fixed pulley module (32-12) from bottom to top, then through right fixed pulley module (32-12) commutate 180 degree, then driving rope along rear side wire disk (32-3) is led in the direction of the clock Wire loop groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (33), right driving rope (35-2) End is connected with the swivel link in joint, rear end;
The front end of the left driving in above-mentioned joint rope (36-1) is connected with the driver element in joint, rear end and drivewheel (33) being connected, the left driving in joint rope (36-1) wrapped anti-clockwise is on drivewheel (33);
The front end of the right driving in above-mentioned joint rope (36-2) is connected with the driver element in joint, rear end and drivewheel (33) being connected, the right driving in joint rope (36-2) wound clockwise is on drivewheel (33);
Clockwise and counterclockwise described in said structure refers both to observe from front to back;
The fast pulley (31) of above-mentioned rope mobile decoupling mechanism (3) and the revolution pedestal in revolute joint (1) (11) fixing connection, drivewheel (33) is fixing with pivoted link (12) to be connected;
Pivoted link loading bearing (14) inner ring is arranged on pivoted link (12), and outer ring is arranged on revolution base In the axis hole of seat (11), circlip for shaft, the shaft shoulder is used to carry out axis and fix;Pivoted link loading bearing (14) the axially and radially load of revolute joint (1) is born;Leading block (13) is fixedly mounted on revolution On pedestal (11), driving rope (36-1) left to joint, the right driving in joint rope (36-2) guide.
2. a reconfigurable rope drives series connection decoupling mechanical arm elevation rotary joint, it is characterised in that:
Elevation rotary joint (2) includes pitching rotating basis (21), pitching swivel link (22), and rope is transported Dynamic decoupling mechanism (3), rear end drives the left leading block of rope (23-1), and rear end drives the right leading block of rope (23-2), pitching swivel link loading bearing (24);Wherein joint rotation axis and pitching swivel link (22) Axis is vertical;
The most above-mentioned rope mobile decoupling mechanism (3) realizes driving rear end the mobile decoupling of rope, it is achieved Elevation rotary joint (2) and the mobile decoupling in joint, rear end;Include the most successively fast pulley (31), with Driving wheel (32), planet circular system (34), drivewheel (33);Fast pulley (31) is fixed from rotating, actively Wheel (33) can rotate around its center axis;Supporting roller (32) includes supporting roller main body (32-4);
Above-mentioned epicyclic train (34) includes fixed gear (34-1), driving gear (34-2), left lateral star Gear (34-3) and right planetary gear (34-4);The modulus of each gear is identical, and fixed gear (34-1) Identical with driving gear (34-2) number of teeth, left planetary gear (34-3) and right planetary gear (34-4) number of teeth Identical;Fixed gear (34-1) is connected with fast pulley (31), driving gear (34-2) and drivewheel (33) Connecting, left planetary gear (34-3) and right planetary gear (34-4) are mounted on supporting roller main body (32-4), Can rotate around axis but move along own axes direction and be restricted;Left planetary gear (34-3) and right lateral star Gear (34-4) is by limiting supporting roller (32) with fixed gear (34-1), engaging of driving gear (34-2) Axially-movable and circumferentially rotate;
This mechanism also includes the left driving in joint, rear end rope (35-1), the right driving in joint, rear end rope (35-2);The left driving in joint rope (36-1), the right driving in joint rope (36-2);
Wire disk (32-2) on front side of the installed in front of above-mentioned supporting roller main body (32-4), leads on rear side of rear side installation Drum (32-3), front side wire disk (32-2) is identical with rear side wire disk (32-3) structure, is all machined with same Heart annulus metallic channel, donut metallic channel rear end joint drive rope wire annular groove;Supporting roller main body (32-4) Left fixed pulley module (32-11) and right fixed pulley module (32-12) are also installed in top;Left fixed pulley module (32-11) With the guiding fixed pulley that right fixed pulley module (32-12) is rear end joint drive rope;
Above-mentioned fast pulley (31) lower section and drivewheel (33) below be provided with two parallel with axle axis Through hole, and through hole carry out fillet process or install pulley be respectively used to the left driving in joint, above-mentioned rear end rope (35-1), The guiding of the right driving in joint, rear end rope (35-2);
The front end of the left driving in joint, above-mentioned rear end rope (35-1) is for being connected with the driver element in joint, rear end; Initially pass through the corresponding through hole on fast pulley (31) afterwards, more in the direction of the clock along front side wire disk (32-2) Driving rope wire annular groove arrive left fixed pulley module (32-11) from bottom to top, then through left fixed pulley module (32-11) commutate 180 degree, then driving rope along rear side wire disk (32-3) is led counterclockwise Wire loop groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (33), left driving rope (35-1) End is connected with the swivel link in joint, rear end;
The front end of the right driving in joint, above-mentioned rear end rope (35-2) is for being connected with the driver element in joint, rear end; Initially pass through the corresponding through hole on fast pulley (31) afterwards, more counterclockwise along front side wire disk (32-2) Driving rope wire annular groove arrive right fixed pulley module (32-12) from bottom to top, then through right fixed pulley module (32-12) commutate 180 degree, then driving rope along rear side wire disk (32-3) is led in the direction of the clock Wire loop groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (33), right driving rope (35-2) End is connected with the swivel link in joint, rear end;
The front end of the left driving in above-mentioned joint rope (36-1) is connected with the driver element in joint, rear end and drivewheel (33) being connected, the left driving in joint rope (36-1) wrapped anti-clockwise is on drivewheel (33);
The front end of the right driving in above-mentioned joint rope (36-2) is connected with the driver element in joint, rear end and drivewheel (33) being connected, the right driving in joint rope (36-2) wound clockwise is on drivewheel (33);
Clockwise and counterclockwise described in said structure refers both to observe from front to back;
The fast pulley (31) of above-mentioned rope mobile decoupling mechanism (3) and the pitching in elevation rotary joint (2) Rotating basis (21) is fixing to be connected, and drivewheel (33) is fixing with pitching swivel link (22) to be connected;Pitching Swivel link loading bearing (24) inner ring is arranged on pitching swivel link (22), and outer ring is arranged on pitching rotation Turn in the axis hole of pedestal (21), limit axial displacement by the shaft shoulder on pitching rotating basis, circlip, The axially and radially load of elevation rotary joint (2) is born in pitching swivel link loading bearing (24);Rear end The left leading block of rope (23-1) is driven to be fixed on pitching rotating basis (21), for joint, rear end is driven The guiding of running rope rope;Rear end drives the right leading block of rope (23-2) to be fixed on pitching swivel link (22), For the guiding to rear end joint drive rope.
CN201620319582.4U 2016-04-15 2016-04-15 Reconfigurable rope drives series connection decoupling mechanical arm revolute joint and elevation rotary joint Withdrawn - After Issue CN205704261U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105798947A (en) * 2016-04-15 2016-07-27 南京航空航天大学 Reconfigurable rope-driven tandem decoupling mechanical arm joint and working method thereof

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105798947A (en) * 2016-04-15 2016-07-27 南京航空航天大学 Reconfigurable rope-driven tandem decoupling mechanical arm joint and working method thereof

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