CN205835329U - Modularity rope drives decoupling joint of mechanical arm - Google Patents

Modularity rope drives decoupling joint of mechanical arm Download PDF

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Publication number
CN205835329U
CN205835329U CN201620318771.XU CN201620318771U CN205835329U CN 205835329 U CN205835329 U CN 205835329U CN 201620318771 U CN201620318771 U CN 201620318771U CN 205835329 U CN205835329 U CN 205835329U
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China
Prior art keywords
rope
joint
driving
decoupling
drivewheel
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CN201620318771.XU
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Chinese (zh)
Inventor
陈柏
印亮
白东明
徐伟
华达人
赵鹏
张磊
蒋素荣
蒋萌
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Nanjing Nuoxi Automation Technology Co Ltd
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Nanjing Nuoxi Automation Technology Co Ltd
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Abstract

The utility model discloses a kind of modularity rope and drive decoupling joint of mechanical arm, relate to robot field.This decoupling mechanism, devises two distinct types of modularity rope and drives joint, solves joint series rope and drives each interarticular motion coupled problem of mechanical arm.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

Modularity rope drives decoupling joint of mechanical arm
Technical field
This utility model relates to robot field, and especially a kind of modularity rope drives decoupling joint of mechanical arm.
Background technology
The mechanical arm volume mass being widely used at present is big, structure is complicated, rigidity is high, joints' compliance is poor, hands over environment Safety is low mutually.Further, robot load is low from anharmonic ratio, captures load power consumption big, and efficiency is low.In order to reduce the weight of mechanical arm And rotary inertia, improve 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 rope is used to pass Dynamic, 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 a pass The motion of joint causes the subsidiary motion in another joint.In rope drives cascade machine mechanical arm, when rope drives front end joint motions The driving rope that can cause joint, rear end incidentally changes, and then causes the subsidiary rotation in joint.Main currently for joint decoupling There are two kinds of methods: one, using motion control arithmetic to carry out actively and decouple, along with increasing of joint, the complexity of control algolithm is anxious Sharp increase adds;Two, use lasso trick transmission, there is not motion coupling phenomenon, but it is relatively big to rub between rope and lasso trick, and exist dead The nonlinear characteristics such as district, gap, sluggishness, control accuracy and the dynamic response characteristic of mechanical arm are difficult to ensure that.Accordingly, it would be desirable to it is 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 Old driving mechanical arm with rope, this patent disclosure one is help the disabled/is helped the elderly and drives mechanical arm with rope, each cradle head of mechanical arm Drive motor to be all arranged in base driving box, utilize rope drive system that the power driving motor is passed to each cradle head, Realize the driving to cradle head.But, this mechanical arm uses lasso trick driving mechanism, it is difficult to reduce rope and set in transmission process Friction between Tong, and there is many nonlinear characteristics such as dead band, gap, sluggishness, the control accuracy of mechanical arm, dynamic characteristic are difficult To ensure.Other some documents, such as: publication number CN102941573, entitled a kind of rope drives articulated robot, disclosure Number 1995777A, the entitled wire cable transmission mechanism for mechanical arm.Cascade machine mechanical arm based on rope drive is done by they Some useful work, 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 solve series connection rope and drive each interarticular motion coupling of mechanical arm Conjunction problem, this utility model provides two kinds of modular ropes based on rope mobile decoupling mechanism and drives rotary joint.
A kind of rope that this utility model relates to drives revolute joint, it is characterised in that: include turning round pedestal, pivoted link, Rope mobile decoupling mechanism, leading block, pivoted link loading bearing;The wherein rotation axis of revolute joint and pivoted link axle Line overlaps;
The most above-mentioned rope mobile decoupling mechanism realizes driving rear end the mobile decoupling of rope, it is achieved revolute joint with The mobile decoupling in joint, rear end, includes fast pulley, supporting roller, drivewheel the most successively;Wherein fast pulley includes fast pulley Wheel disc and fast pulley wheel shaft, fast pulley wheel disc and fast pulley wheel shaft are mutually connected and can not rotate;Supporting roller is installed on fast pulley wheel On axle, it is driven by decoupling rope, and axially displacement is limited;This rope mobile decoupling mechanism includes left decoupling rope, the right side Decoupling rope, the left driving in rear end rope, the right driving in rear end rope, the left driving in joint rope, the right driving in joint rope;
Above-mentioned supporting roller includes supporting roller main body, and its installed in front has front side wire disk, and rear side is provided with rear side wire Dish, front side wire disk is identical with rear side wire disk structure, is all machined with two donut metallic channels, and two donut metallic channels divide Not for decouple rope wire annular groove and to drive rope wire annular groove;Decoupling rope wire annular groove and the half of driving rope wire annular groove Footpath is respectively r1,r2;Left fixed pulley module and right fixed pulley module are also installed above supporting roller main body;Left fixed pulley module and the right side Fixed pulley module is driven rope fixed pulley composition by a coaxial mounted decoupling rope fixed pulley and one;
Below above-mentioned fast pulley be provided with four through holes parallel with axle axis below drivewheel, and through hole is carried out Fillet processes or installs pulley and is respectively used to above-mentioned left decoupling rope, right decoupling rope, the left driving in rear end rope, the right driving in rear end The guiding of rope;
The front end of above-mentioned left decoupling rope is fixed with fast pulley, initially passes through the corresponding through hole on fast pulley afterwards, then by suitable Clockwise arrives left fixed pulley module from bottom to top along the decoupling rope guiding annular groove of front side wire disk, more fixed sliding through a left side Wheel module commutate 180 degree, more counterclockwise along rear side wire disk decoupling rope guiding annular groove from top to bottom, be then passed through After corresponding through hole on drivewheel, the end of rope is fixed with drivewheel;
The front end of above-mentioned right decoupling rope is fixed with fast pulley, initially passes through the corresponding through hole on fast pulley afterwards, then by inverse Clockwise arrives right fixed pulley module from bottom to top along the decoupling rope guiding annular groove of front side wire disk, more fixed sliding through the right side Wheel module commutate 180 degree, more in the direction of the clock along rear side wire disk decoupling rope guiding annular groove from top to bottom, be then passed through After corresponding through hole on drivewheel, the end of rope is fixed with drivewheel;
The front end of the left driving in above-mentioned rear end rope is for being connected with the driver element in joint, rear end;Initially pass through fast pulley afterwards On corresponding through hole, then driving rope along front side wire disk guides annular groove and arrives left fixed sliding from bottom to top in the direction of the clock Wheel module, then commutate 180 degree through left fixed pulley module, more counterclockwise along the driving rope guiding of rear side wire disk Annular groove from top to bottom, after the corresponding through hole being then passed through on drivewheel, the end of the left driving in rear end rope and the rotation in joint, rear end Connecting rod is connected;
The front end of the right driving in above-mentioned rear end rope is for being connected with the driver element in joint, rear end;Initially pass through fast pulley afterwards On corresponding through hole, then driving rope along front side wire disk guides annular groove and arrives right fixed sliding from bottom to top counterclockwise Wheel module, then commutate 180 degree through right fixed pulley module, more in the direction of the clock along the driving rope guiding of rear side wire disk Annular groove from top to bottom, after the corresponding through hole being then passed through on drivewheel, the end of the right driving in rear end rope and the rotation in joint, rear end Connecting rod is connected;
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 is left Drive rope wrapped anti-clockwise on drivewheel;The front end of the right driving in above-mentioned joint rope is connected with the driver element in joint, after 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, drivewheel with time Turn the fixing connection of connecting rod;
Pivoted link loading bearing inner ring is arranged on fast pulley wheel shaft, and outer ring is arranged in the axis hole of pivoted link, holds Axially and radially load by revolute joint;Leading block is fixedly mounted on revolution pedestal, driving rope left to joint, joint Right driving rope guides.
The method of work of above-mentioned revolute joint, it is characterised in that:
The forward and reverse circular arc cabling utilizing left decoupling rope and right decoupling rope is wound around, it is achieved supporting roller angular velocity of satellite motion is The half of revolute joint angular velocity of rotation ω, is ω/2, and left decoupling rope and right decoupling rope remain tensioning, real The existing forward and reverse reliable driving of supporting roller;
And be wound around by rear end left driving rope and rear end right driving rope forward and reverse circular arc cabling, it is achieved the left driving in rear end Rope and rear end right driving rope change in displacement rate is the 2r of supporting roller motion angular speed ω/22Times, wherein r2Left for rear end, Right driving rope guides the cabling radius of annular groove along the rope that drives on forward and backward wire disk, and ω is the anglec of rotation of pivoted link Speed;
The end being rotated joint, the rear end left and right driving rope right-hand member caused by pivoted link will produce+ω Δ tgr2,- ωΔtgr2Displacement, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;Rotated by supporting roller The right-hand member end of joint, the rear end left and right driving rope caused is by generation-2r2gω/2gΔt、+2r2The displacement of g 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 turn round Connecting rod drive drivewheel how to rotate, the rear end of rear end left driving rope and the rear end right driving rope after decoupling mechanism with Pivoted link is without relative displacement;
Above-mentioned revolute joint uses typical rope pair to draw driving;Revolution pedestal maintains static, and uses rope pair to draw driving Time, the front end of joint left driving rope and joint right driving rope fixes with the driver element of revolute joint, the rear end of rope with 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 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 forward and reverse driving in joint can By property.
A kind of mechanical arm elevation rotary joint driven of restricting that this utility model relates to, it is characterised in that:
Elevation rotary joint includes pitching rotating basis, pitching swivel link, and rope mobile decoupling mechanism, pitching rotates even Bar loading bearing;Wherein joint rotation axis is vertical with pitching swivel link axis;
The most above-mentioned rope mobile decoupling mechanism, includes fast pulley, supporting roller, drivewheel the most successively;Wherein Fast pulley includes that fast pulley wheel disc and fast pulley wheel shaft, fast pulley wheel disc and fast pulley wheel shaft are the most connected, is fixed from rotating; Supporting roller is installed on fast pulley wheel shaft, and it is driven by decoupling rope, and axially displacement is limited;This rope mobile decoupling machine Structure also includes left decoupling rope, right decoupling rope, the left driving in rear end rope, the right driving in rear end rope, the left driving in joint rope, pass Save right driving rope;
Above-mentioned supporting roller includes supporting roller main body, and its installed in front has front side wire disk, and rear side is provided with rear side wire Dish, front side wire disk is identical with rear side wire disk structure, is all machined with two donut metallic channels, and two donut metallic channels divide Not for decouple rope wire annular groove and to drive rope wire annular groove;Decoupling rope wire annular groove and the half of driving rope wire annular groove Footpath is respectively r1,r2;Left fixed pulley module and right fixed pulley module are also installed above supporting roller main body;Left fixed pulley module and the right side Fixed pulley module is driven rope fixed pulley composition by a coaxial mounted decoupling rope fixed pulley and one;
Below above-mentioned fast pulley be provided with four through holes parallel with axle axis below drivewheel, and through hole is carried out Fillet processes or installs pulley and is respectively used to above-mentioned left decoupling rope, right decoupling rope, the left driving in rear end rope, the right driving in rear end The guiding of rope;
The front end of above-mentioned left decoupling rope is fixed with fast pulley, initially passes through the corresponding through hole on fast pulley afterwards, then by suitable Clockwise arrives left fixed pulley module from bottom to top along the decoupling rope guiding annular groove of front side wire disk, more fixed sliding through a left side Wheel module commutate 180 degree, more counterclockwise along rear side wire disk decoupling rope guiding annular groove from top to bottom, be then passed through After corresponding through hole on drivewheel, the end of rope is fixed with drivewheel;
The front end of above-mentioned right decoupling rope is fixed with fast pulley, initially passes through the corresponding through hole on fast pulley afterwards, then by inverse Clockwise arrives right fixed pulley module from bottom to top along the decoupling rope guiding annular groove of front side wire disk, more fixed sliding through the right side Wheel module commutate 180 degree, more in the direction of the clock along rear side wire disk decoupling rope guiding annular groove from top to bottom, be then passed through After corresponding through hole on drivewheel, the end of rope is fixed with drivewheel;
The front end of the left driving in above-mentioned rear end rope is for being connected with the driver element in joint, rear end;Initially pass through fast pulley afterwards On corresponding through hole, then driving rope along front side wire disk guides annular groove and arrives left fixed sliding from bottom to top in the direction of the clock Wheel module, then commutate 180 degree through left fixed pulley module, more counterclockwise along the driving rope guiding of rear side wire disk Annular groove from top to bottom, after the corresponding through hole being then passed through on drivewheel, the end of the left driving in rear end rope and the rotation in joint, rear end Connecting rod is connected;
The front end of the right driving in above-mentioned rear end rope is for being connected with the driver element in joint, rear end;Initially pass through fast pulley afterwards On corresponding through hole, then driving rope along front side wire disk guides annular groove and arrives right fixed sliding from bottom to top counterclockwise Wheel module, then commutate 180 degree through right fixed pulley module, more in the direction of the clock along the driving rope guiding of rear side wire disk Annular groove from top to bottom, after the corresponding through hole being then passed through on drivewheel, the end of the right driving in rear end rope and the rotation in joint, rear end Connecting rod is connected;
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 is left Drive rope wrapped anti-clockwise on drivewheel;The front end of the right driving in above-mentioned joint rope is connected with the driver element in joint, after 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, leads Driving wheel is fixing with pitching swivel link to be connected;Pitching swivel link loading bearing inner ring is arranged on fast pulley wheel shaft, and outer ring is pacified It is contained in the axis hole of pitching swivel link, is born the axially and radially load of elevation rotary joint by loading bearing.
The method of work of above-mentioned elevation rotary joint, it is characterised in that:
The forward and reverse circular arc cabling utilizing left decoupling rope and right decoupling rope is wound around, it is achieved supporting roller angular velocity of satellite motion is The half of elevation rotary joint angular velocity of rotation ω, is ω/2, and left decoupling rope and right decoupling rope remain and open Tightly, it is achieved the forward and reverse reliable driving of supporting roller;
And be wound around by rear end left driving rope and rear end right driving rope forward and reverse circular arc cabling, it is achieved the left driving in rear end Rope and rear end right driving rope change in displacement rate is the 2r of supporting roller motion angular speed ω/22Times, wherein r2Left for rear end, Right driving rope guides the cabling radius of annular groove along the rope that drives on forward and backward wire disk, and ω is the rotation of pitching swivel link Tarnsition velocity;
The end being rotated joint, the rear end left and right driving rope right-hand member caused by pitching swivel link will produce+ω Δ tgr2,-ω Δ tgr2Displacement, wherein to be pointed to joint extreme direction for just along rope direction by driver element end;By supporting roller Rotate the right-hand member end of joint, the rear end left and right driving rope caused by generation-2r2gω/2gΔt、+2r2The position of g ω/2g Δ t Move, 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 bow Facing upward swivel link and drive how drivewheel rotates, rear end left driving rope and the right side, rear end after rope mobile decoupling mechanism are driven The rear end of running rope rope and pitching swivel link are without relative displacement;
Above-mentioned elevation rotary joint uses typical rope pair to draw driving;Pitching rotating basis maintains static, and a left side, joint is driven The front end of running rope rope and joint right driving rope is fixed with the driver element of revolute joint, the rear end of rope and rope mobile decoupling Drivewheel consolidation in mechanism;Joint left driving rope and joint right driving rope is wrapped on drivewheel, and winding direction On the contrary;The driving to elevation rotary joint is realized by driving rope to draw to two, putting operation;During driving, draw, being rivals in a contest should Rope length 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, improve mechanical arm loads the driving response characteristic from anharmonic ratio and joint.This utility model is for joint motions Coupling, 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, fall The low complexity of motion control arithmetic.Two kinds of modularity ropes of the present utility model drive joint of mechanical arm, each joint Realizing the rotation of 0~300 ° of scope, work space is big, and response performance is good.And in actual application, can be according to operation The requirement of 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, application Scope is wide, 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 is the schematic diagram of each rope cabling in rope mobile decoupling mechanism, and wherein the left side is driven for decoupling rope and rear end The cabling schematic diagram of running rope rope;The right is joint drive rope cabling schematic diagram;
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 to walk Line schematic diagram;The right rotates for supporting roller, and rear end drives rope cabling schematic diagram;
Fig. 6 is the structural representation of multiple configuration mechanical arm;
Fig. 7 is waist joint supporting roller and rope cabling schematic diagram thereof, and wherein the left side is supporting roller at waist revolute joint Structural representation;The right is the structural representation of each rope cabling at waist revolute joint;
Fig. 8 is shoulder joints supporting roller and rope cabling schematic diagram thereof, wherein the left side be at shoulder pitch rotary joint with The structural representation of driving wheel;The right is the structural representation of each rope cabling at 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 Drive 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 pitching rotate loading bearing;
31 fast pulleys;32 supporting rollers;Wire disk on front side of 32-1;32-2 supporting roller main body;Wire disk on rear side of 32-3;32-4 is left Fixed pulley module;32-5 right fixed pulley module;33 drivewheels;34-1 left decoupling rope;34-2 right decoupling rope;35-1 rear end is left Drive 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 selfs By degree Joint Manipulator;41-3 Three Degree Of Freedom Joint Manipulator;42 wrist formula ropes drive mechanical arm;43SCARA formula rope drives Motivation mechanical arm;
51 waist revolute joints;52 shoulder pitch rotary joints;53 ancon elevation rotary joint, 54 wrist pitching rotate and close Joint.
Detailed description of the invention
Accompanying drawing discloses the structural representation being preferable to carry out involved by this utility model without limitation, below with reference to Accompanying drawing explains the technical solution of the utility model.
Refer to shown in Fig. 1,4,5, it is provided that a kind of passive solution of driving rope motion driving cascade machine mechanical arm for rope The mechanism of coupling.Rope mobile decoupling mechanism 3, includes fast pulley 31, supporting roller 32, drivewheel 33 the most successively;Wherein solid Fixed wheel 31 includes that fast pulley wheel disc and fast pulley wheel shaft, fast pulley wheel disc and fast pulley wheel shaft are the most connected, is fixed from rotating; Supporting roller 32 is installed on fast pulley wheel shaft, and it is driven by decoupling rope, and axially displacement is limited;This rope mobile decoupling Mechanism 3 also includes left decoupling rope 34-1, right decoupling rope 34-2, the left driving in rear end rope 35-1, the right driving in 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 32-2, and its installed in front has front side wire disk (32-1), and rear side is pacified Equipped with rear side wire disk (32-3), front side wire disk (32-1) is identical with rear side wire disk (32-3) structure, is all machined with two same Heart annulus metallic channel, two donut metallic channels are respectively decoupling rope wire annular groove and drive rope wire annular groove;Decoupling rope The radius of rope wire annular groove and driving rope wire annular groove is respectively r1,r2;Left fixed pulley is also installed above supporting roller main body 32-2 Module 32-4 and right fixed pulley module 32-5;Left fixed pulley module 32-4 and right fixed pulley module 32-5 are by coaxial mounted one Individual decoupling rope fixed pulley and a driving rope fixed pulley composition;Below fast pulley 31 and it is provided with four below drivewheel 33 The individual through hole parallel with axle axis, for above-mentioned left decoupling rope 34-1, right decoupling rope 34-2, the left driving in rear end rope 35-1, the guiding of the right driving in rear end rope 35-2;
The front end of above-mentioned left decoupling rope 34-1 is fixed with fast pulley 31, initially passes through the correspondence on fast pulley 31 afterwards and leads to Hole, more in the direction of the clock along front side wire disk 32-1 decoupling rope guide annular groove arrive left fixed pulley module from bottom to top 32-4, then commutate 180 degree through left fixed pulley module 32-4, more counterclockwise along the decoupling rope of rear side wire disk 32-3 Rope guides annular groove from top to bottom, and after the corresponding through hole being then passed through on drivewheel 33, the end of rope is fixed with drivewheel 33;
The front end of above-mentioned right decoupling rope 34-2 is fixed with fast pulley 31, initially passes through the correspondence on fast pulley 31 afterwards and leads to Hole, more counterclockwise along front side wire disk 32-1 decoupling rope guide annular groove arrive right fixed pulley module from bottom to top 32-5, then commutate 180 degree through right fixed pulley module 32-5, more in the direction of the clock along the decoupling rope of rear side wire disk 32-3 Rope guides annular groove from top to bottom, and after the corresponding through hole being then passed through on drivewheel 33, the end of rope is fixed with drivewheel 33;
The front end of the left driving in above-mentioned rear end rope 35-1 is for being connected with the driver element in joint, rear end;Initially pass through solid afterwards Corresponding through hole on fixed wheel 31, more in the direction of the clock along front side wire disk 32-1 driving rope guide annular groove from bottom to top Arrive left fixed pulley module 32-4, then commutate 180 degree through left fixed pulley module 32-4, then lead along rear side counterclockwise The driving rope of drum 32-3 guides annular groove from top to bottom, and after the corresponding through hole being then passed through on drivewheel 33, rear end is left drives rope The end of rope 35-1 is connected with the swivel link in joint, rear end;
The front end of the right driving in above-mentioned rear end rope 35-2 is for being connected with the driver element in joint, rear end;Initially pass through solid afterwards Corresponding through hole on fixed wheel 31, more counterclockwise along front side wire disk 32-1 driving rope guide annular groove from bottom to top Arrive right fixed pulley module 32-5, then commutate 180 degree through right fixed pulley module 32-5, then lead along rear side in the direction of the clock The driving rope of drum 32-3 guides annular groove from top to bottom, and after the corresponding through hole being then passed through on drivewheel 33, rear end is right drives rope The end of 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, 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, 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 left decoupling rope 34-1, right decoupling rope 34-2 are used for driving supporting roller 32.When drivewheel 33 is with Fig. 1 side In time rotating, with the right decoupling rope 34-2 tensioning of drivewheel 33 consolidation, left decoupling rope 34-1 relaxes.When front side wire disk When decoupling rope guide ring groove radius on 32-1, rear side wire disk 32-3 is equal, the angle speed that supporting roller 32 rotates can be ensured 1/2 that degree is drivewheel 33 rotational angular velocity ω, and the fixing end (master causing right decoupling rope 34-2 is rotated by drivewheel 33 On driving wheel 33) displacement size is ω Δ tgr1, right decoupling rope 34-2 drive supporting roller 32 to cause left decoupling rope 34-1 Fixing end (on drivewheel 33) displacement size be ω/2 Δ t g2r1=ω Δ tgr1, displacement is equal in magnitude.Thereby guarantee that a left side Decoupling rope 34-1, right decoupling rope 34-2 will not produce the phenomenon that certain root decoupling rope is the most tight or generation is lax, it is ensured that The reliability of the forward and reverse driving of supporting roller 32;
The left driving in above-mentioned rear end rope 35-1, the right driving in rear end rope 35-2, due to the left driving in rear end rope 35-1, rear end Right driving rope 35-2 is wound around along the guiding annular groove on front side wire disk 32-1, rear side wire disk 32-3, and front side wire Driving rope guide ring groove radius on dish 32-1, rear side wire disk 32-3 is equal, is r2, cause so supporting roller 32 rotates The left driving in rear end rope 35-1, the rate of change of the right driving in rear end rope 35-2 right end be supporting roller turning rate 2r2Times.When drivewheel 33 rotates with direction shown in Fig. 1, ω angular velocity, by the guiding of through hole on drivewheel 33, rear end is left Driving rope 35-1 to depart 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 is produced Raw+ω Δ tgr2Displacement, 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, rear end is right The right end driving rope 35-2 produces-ω Δ tgr2(ω is the angular velocity of rotation of drivewheel 33, r in displacement2For front side wire On dish 32-1, rear side wire disk 32-3 drive rope guide annular groove radius, in Fig. 5 with along rope direction upwards for just).As Fig. 4, shown in 5, due to left decoupling rope 34-1, the driving of right decoupling rope 34-2, supporting roller 32 follows master with ω/2 angular velocity Driving wheel 33 rotating in same direction, the angle ω Δ t/2 that supporting roller rotates.Because supporting roller 32 rotate the left driving in rear end rope 35-1, after Holding the speed of right driving rope 35-2 right end is the 2r of supporting roller angular speed2Times, thus the left driving in rear end rope 35-1, after The displacement size holding the right end of right driving rope 35-2 is ω Δ t/2g2r2=ω Δ tgr2.The rotation of supporting roller, causes Rear end left driving rope 35-1 may proceed to be wound around along the guiding annular groove on front side, rear side wire disk, and coiling length is ω Δ tgr2, namely the right-hand member of the left driving in rear end rope 35-1 will generation-ω Δ tgr2Displacement.One of the right driving in rear end rope 35-2 Divide departing from along the guiding annular groove on front side, rear side wire disk, depart from a length of ω Δ tgr2, namely rear end is right drives rope The right-hand member of rope 35-2 will produce+ω Δ tgr2Displacement (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 is after decoupling module, without relative movement between end on the right side of them and drivewheel 33, also The i.e. rope 35 that drives in joint, rear end produces relative movement because of the rotation of drivewheel 33, it is achieved that it is passive that rope moves Decoupling;
Refer to shown in Fig. 2, the revolute joint 1 driven based on rope, the rotation axis in its joint and pivoted link 12 axle Line overlaps.Revolute joint 1 includes turning round pedestal 11, pivoted link 12, rope mobile decoupling mechanism 3, leading block 13, and revolution is even Bar loading bearing 14.Rope mobile decoupling mechanism 3 realizes driving rear end the mobile decoupling of rope, it is achieved revolute joint 1 with after The mobile decoupling in end joint.The fast pulley 31 of above-mentioned rope mobile decoupling mechanism 3 is fixed with the revolution pedestal 11 in revolute joint 1 Connecting, drivewheel 33 is fixing with pivoted link 12 to be connected.Pivoted link loading bearing 14 inner ring is arranged on the wheel shaft of fast pulley 31 On, outer ring is arranged in the axis hole of pivoted link 12, is born the axially and radially load of revolute joint 1 by loading bearing.Lead Being fixedly mounted on revolution pedestal 11 to pulley 13, driving rope 36-1 left to joint, joint right driving rope 36-2 lead To.The driving of above-mentioned revolute joint 1, uses and drives rope pair to draw drive pattern, and the left driving in joint rope 36-1, the right side, joint are driven Running rope rope 36-2 fixes with drivewheel 33, by two ropes draw, put operation realize the driving to revolute joint 1.
Refer to shown in Fig. 3, elevation rotary joint 2, use rope to drive.Joint rotation axis and pitching swivel link 22 Axis is vertical.Elevation rotary joint 2, including pitching rotating basis 21, pitching swivel link 22, rope mobile decoupling mechanism 3, bow Face upward swivel link loading bearing 23.Rope mobile decoupling mechanism 3 realizes driving rear end the mobile decoupling of rope, it is achieved pitching is revolved Turn the mobile decoupling in joint 2 and joint, rear end.The fast pulley 31 of above-mentioned rope mobile decoupling mechanism 3 and elevation rotary joint 2 In pitching rotating basis 21 fixing connect, drivewheel 33 is fixed with pitching swivel link 22 and is connected.Pitching swivel link carries Bearing 23 inner ring is arranged on the wheel shaft of fast pulley 31, and outer ring is arranged in the axis hole of pitching swivel link 22, by carrying axle Bear the axially and radially load of elevation rotary joint 2.Elevation rotary joint uses typical rope pair to draw drive pattern, logical Cross driving rope 36-1 left to joint, joint right driving rope 36-2 draws, put operation driving pitching swivel link 22.
Refering to shown in Fig. 6, for driving modular rotary joint based on two kinds of ropes, the rope of the multiple configuration of proposition drives machine Mechanical arm structural representation.According to different operation tasks, composition articulated type, wrist type, the rope of SCARA formula configuration drive machinery Arm.Articulated rope drives mechanical arm 41 to be divided into Three Degree Of Freedom Joint Manipulator 41-3, the first four freedom by number of degrees of freedom, Degree Joint Manipulator 41-1, the second four-degree-of-freedom Joint Manipulator 41-2.Three Degree Of Freedom Joint Manipulator 41-3 from Pedestal to mechanical arm tail end is followed successively by revolute joint 1, elevation rotary joint 2, elevation rotary joint 2;The first four-degree-of-freedom closes Joint formula mechanical arm 41-1 from pedestal to mechanical arm tail end be followed successively by revolute joint 1, elevation rotary joint 2, elevation rotary joint 2, Elevation rotary joint 2;The second four-degree-of-freedom Joint Manipulator 41-2 is followed successively by revolute joint from pedestal to mechanical arm tail end 1, elevation rotary joint 2, elevation rotary joint 2, revolute joint 1;Wrist formula rope drives mechanical arm 42, the rotary shaft in three joints Line 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 shown in Fig. 6, the first four-degree-of-freedom Joint Manipulator 41-1 is the first preferred embodiments.This mechanical arm bag Include waist revolute joint 51, shoulder pitch rotary joint 52, ancon elevation rotary joint 53, wrist elevation rotary joint 54.Waist Portion's revolute joint 51, rotates around vertical axle.Shoulder pitch rotary joint 52 makees elevating movement around trunnion axis, and ancon pitching rotates closes Joint 53 makees elevating movement around trunnion axis, and wrist elevation rotary joint 54 makees elevating movement around trunnion axis.At waist revolute joint 51 Rope mobile decoupling mechanism, it is achieved waist revolute joint 51 and shoulder, ancon, the mobile decoupling of wrist elevation rotary joint, Shown in its supporting roller structural representation figure as left in Fig. 7, this supporting roller is wound with six roots of sensation rear end joint drive rope and two solutions Coupling rope, the six roots of sensation drives rope to correspond to the driving rope of shoulder, ancon, wrist elevation rotary joint respectively.Have on supporting roller (three troughs are for rear end joint drive rope cabling, a trough for rope cabling for four concentrically ringed troughs For decoupling the cabling of rope).The right figure of Fig. 7 is the rope cabling schematic diagram at waist revolute joint 51;Shoulder pitch rotates and closes Save the rope mobile decoupling mechanism at 52, it is achieved shoulder pitch rotary joint 52 and ancon elevation rotary joint 53, wrist pitching The mobile decoupling of rotary joint 54, shown in its supporting roller structural representation figure as left in Fig. 8.Four rear ends it are wound with on this supporting roller Joint drive rope and two decoupling ropes, four drive rope to correspond to ancon, the driving of wrist elevation rotary joint respectively Rope, supporting roller has three concentrically ringed troughs, and for rope cabling, (two troughs are for rear end joint drive rope Cabling, a trough is for decoupling the cabling of rope).The right figure of Fig. 8 is the rope cabling schematic diagram at shoulder revolute joint 52; Rope mobile decoupling mechanism at ancon elevation rotary joint 53, it is achieved ancon elevation rotary joint 53 rotates with wrist pitching and closes The mobile decoupling of 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 There is joint, rear end, it is not necessary to rope is decoupled, so there is no rope mobile decoupling mechanism in wrist elevation rotary joint 54.

Claims (2)

1. a modularity rope drives decoupling joint of mechanical arm, it is characterised in that:
Including revolution pedestal (11), pivoted link (12), rope mobile decoupling mechanism (3), leading block (13), pivoted link holds Carry bearing (14);The wherein rotation axis of revolute joint (1) and pivoted link (12) dead in line;
The most above-mentioned rope mobile decoupling mechanism (3) realizes driving rear end the mobile decoupling of rope, it is achieved revolute joint (1) With the mobile decoupling in joint, rear end, include fast pulley (31), supporting roller (32), drivewheel (33) the most successively;Wherein solid Fixed wheel (31) includes that fast pulley wheel disc and fast pulley wheel shaft, fast pulley wheel disc and fast pulley wheel shaft are mutually connected and can not rotate;With Driving wheel (32) is installed on fast pulley wheel shaft, and it is driven by decoupling rope, and axially displacement is limited;This rope mobile decoupling Mechanism (3) includes left decoupling rope (34-1), right decoupling rope (34-2), the left driving in rear end rope (35-1), the right driving in 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 (32-2), and its installed in front has front side wire disk (32-1), and rear side is pacified Equipped with rear side wire disk (32-3), front side wire disk (32-1) is identical with rear side wire disk (32-3) structure, is all machined with two same Heart annulus metallic channel, two donut metallic channels are respectively decoupling rope wire annular groove and drive rope wire annular groove;Decoupling rope The radius of rope wire annular groove and driving rope wire annular groove is respectively r1,r2;Left fixed pulley is also installed in supporting roller main body (32) top Module (32-4) and right fixed pulley module (32-5);Left fixed pulley module (32-4) and right fixed pulley module (32-5) are by coaxially The decoupling rope fixed pulley installed and a driving rope fixed pulley composition;
Above-mentioned fast pulley (31) lower section is provided with four through holes parallel with axle axis, and through hole with drivewheel (33) lower section Carry out fillet process or install that pulley is respectively used to above-mentioned left decoupling rope (34-1), right decoupling rope (34-2), a left side, rear end are driven Running rope rope (35-1), the guiding of the right driving in rear end rope (35-2);
The front end of above-mentioned left decoupling rope (34-1) is fixed with fast pulley (31), initially passes through the correspondence on fast pulley (31) afterwards and leads to Hole, more in the direction of the clock along front side wire disk (32-1) decoupling rope guide annular groove arrive left fixed pulley mould from bottom to top Block (32-4), then commutate 180 degree through left fixed pulley module (32-4), more counterclockwise along rear side wire disk (32-3) Decoupling rope guide annular groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (33), the end of rope and drivewheel (33) fixing;
The front end of above-mentioned right decoupling rope (34-2) is fixed with fast pulley (31), initially passes through the correspondence on fast pulley (31) afterwards and leads to Hole, more counterclockwise along front side wire disk (32-1) decoupling rope guide annular groove arrive right fixed pulley mould from bottom to top Block (32-5), then commutate 180 degree through right fixed pulley module (32-5), more in the direction of the clock along rear side wire disk (32-3) Decoupling rope guide annular groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (33), the end of rope and drivewheel (33) fixing;
The front end of the left driving in above-mentioned rear end rope (35-1) is for being connected with the driver element in joint, rear end;Initially pass through fixing afterwards Corresponding through hole on wheel (31), then driving rope along front side wire disk (32-1) guides annular groove from lower in the direction of the clock Upper arrival left fixed pulley module (32-4), then commutate 180 degree through left fixed pulley module (32-4), more counterclockwise along The driving rope of rear side wire disk (32-3) guides annular groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (33), after The left end of driving rope (35-1) is held to be connected with the swivel link in joint, rear end;
The front end of the right driving in above-mentioned rear end rope (35-2) is for being connected with the driver element in joint, rear end;Initially pass through fixing afterwards Corresponding through hole on wheel (31), then driving rope along front side wire disk (32-1) guides annular groove from lower counterclockwise Upper arrival right fixed pulley module (32-5), then commutate 180 degree through right fixed pulley module (32-5), more in the direction of the clock along The driving rope of rear side wire disk (32-3) guides annular groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (33), after The right end of driving rope (35-2) is held to be 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), 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), 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) is fixing with the revolution pedestal (11) in revolute joint (1) to be connected, Drivewheel (33) is fixing with pivoted link (12) to be connected;
Pivoted link loading bearing (14) inner ring is arranged on fast pulley wheel shaft, and outer ring is arranged on the axis hole of pivoted link (12) In, bear the axially and radially load of revolute joint (1);Leading block (13) is fixedly mounted in revolution pedestal (11), to pass Save left driving rope (36-1), the right driving in joint rope (36-2) guides.
2. a modularity rope drives decoupling joint of mechanical arm, it is characterised in that:
Elevation rotary joint (2) includes pitching rotating basis (21), pitching swivel link (22), rope mobile decoupling mechanism (3), Pitching swivel link loading bearing (23);Wherein joint rotation axis is vertical with pitching swivel link (22) axis;
The most above-mentioned rope mobile decoupling mechanism (3), includes fast pulley (31), supporting roller (32), actively the most successively Wheel (33);Wherein fast pulley (31) includes that fast pulley wheel disc and fast pulley wheel shaft, fast pulley wheel disc and fast pulley wheel shaft are the most solid Even, it is fixed from rotating;Supporting roller (32) is installed on fast pulley wheel shaft, and it is driven by decoupling rope, and axially displacement quilt Limit;This rope mobile decoupling mechanism (3) also includes left decoupling rope (34-1), right decoupling rope (34-2), the left driving in rear end Rope (35-1), the right driving in 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 (32-2), and its installed in front has front side wire disk (32-1), and rear side is pacified Equipped with rear side wire disk (32-3), front side wire disk (32-1) is identical with rear side wire disk (32-3) structure, is all machined with two same Heart annulus metallic channel, two donut metallic channels are respectively decoupling rope wire annular groove and drive rope wire annular groove;Decoupling rope The radius of rope wire annular groove and driving rope wire annular groove is respectively r1,r2;Left fixed pulley is also installed in supporting roller main body (32) top Module (32-4) and right fixed pulley module (32-5);Left fixed pulley module (32-4) and right fixed pulley module (32-5) are by coaxially The decoupling rope fixed pulley installed and a driving rope fixed pulley composition;
Above-mentioned fast pulley (31) lower section is provided with four through holes parallel with axle axis, and through hole with drivewheel (33) lower section Carry out fillet process or install that pulley is respectively used to above-mentioned left decoupling rope (34-1), right decoupling rope (34-2), a left side, rear end are driven Running rope rope (35-1), the guiding of the right driving in rear end rope (35-2);
The front end of above-mentioned left decoupling rope (34-1) is fixed with fast pulley (31), initially passes through the correspondence on fast pulley (31) afterwards and leads to Hole, more in the direction of the clock along front side wire disk (32-1) decoupling rope guide annular groove arrive left fixed pulley mould from bottom to top Block (32-4), then commutate 180 degree through left fixed pulley module (32-4), more counterclockwise along rear side wire disk (32-3) Decoupling rope guide annular groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (33), the end of rope and drivewheel (33) fixing;
The front end of above-mentioned right decoupling rope (34-2) is fixed with fast pulley (31), initially passes through the correspondence on fast pulley (31) afterwards and leads to Hole, more counterclockwise along front side wire disk (32-1) decoupling rope guide annular groove arrive right fixed pulley mould from bottom to top Block (32-5), then commutate 180 degree through right fixed pulley module (32-5), more in the direction of the clock along rear side wire disk (32-3) Decoupling rope guide annular groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (33), the end of rope and drivewheel (33) fixing;
The front end of the left driving in above-mentioned rear end rope (35-1) is for being connected with the driver element in joint, rear end;Initially pass through fixing afterwards Corresponding through hole on wheel (31), then driving rope along front side wire disk (32-1) guides annular groove from lower in the direction of the clock Upper arrival left fixed pulley module (32-4), then commutate 180 degree through left fixed pulley module (32-4), more counterclockwise along The driving rope of rear side wire disk (32-3) guides annular groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (33), after The left end of driving rope (35-1) is held to be connected with the swivel link in joint, rear end;
The front end of the right driving in above-mentioned rear end rope (35-2) is for being connected with the driver element in joint, rear end;Initially pass through fixing afterwards Corresponding through hole on wheel (31), then driving rope along front side wire disk (32-1) guides annular groove from lower counterclockwise Upper arrival right fixed pulley module (32-5), then commutate 180 degree through right fixed pulley module (32-5), more in the direction of the clock along The driving rope of rear side wire disk (32-3) guides annular groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (33), after The right end of driving rope (35-2) is held to be 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), 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), 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 rotating basis (21) in elevation rotary joint (2) Fixing connection, drivewheel (33) is fixing with pitching swivel link (22) to be connected;Pitching swivel link loading bearing (23) inner ring is pacified Being contained on fast pulley wheel shaft, outer ring is arranged in the axis hole of pitching swivel link (22), bears pitching by loading bearing and rotates The axially and radially load in joint (2).
CN201620318771.XU 2016-04-15 2016-04-15 Modularity rope drives decoupling joint of mechanical arm Withdrawn - After Issue CN205835329U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105798899A (en) * 2016-04-15 2016-07-27 南京若希自动化科技有限公司 Modular rope-driven decoupling mechanical arm joint and working method thereof
CN106737629A (en) * 2017-02-28 2017-05-31 深圳源创智能机器人有限公司 A kind of flexible arm linkage robot driven based on rope

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105798899A (en) * 2016-04-15 2016-07-27 南京若希自动化科技有限公司 Modular rope-driven decoupling mechanical arm joint and working method thereof
CN105798899B (en) * 2016-04-15 2017-10-20 南京若希自动化科技有限公司 Modularization rope driving decoupling joint of mechanical arm and its method of work
CN106737629A (en) * 2017-02-28 2017-05-31 深圳源创智能机器人有限公司 A kind of flexible arm linkage robot driven based on rope
CN106737629B (en) * 2017-02-28 2019-11-01 深圳源创智能机器人有限公司 A kind of flexible arm linkage robot based on rope driving

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