CN211682200U - Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism - Google Patents
Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism Download PDFInfo
- Publication number
- CN211682200U CN211682200U CN201921584918.XU CN201921584918U CN211682200U CN 211682200 U CN211682200 U CN 211682200U CN 201921584918 U CN201921584918 U CN 201921584918U CN 211682200 U CN211682200 U CN 211682200U
- Authority
- CN
- China
- Prior art keywords
- wrist
- joint
- shoulder
- rope
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a seven degree of freedom of rope drive humanoid arms based on parallel mechanism, including shoulder joint, elbow joint, the wrist joint that links to each other in proper order and the joint connecting piece that links to each other with each joint, shoulder joint and wrist joint are three degree of freedom joints, and the elbow joint is single degree of freedom joint, and shoulder joint and wrist joint inside are equipped with the motion branch chain group of space curve structure and with rope cooperation transmission, the elbow joint passes through gear engagement transmission and rope cooperation transmission. Compared with the prior art, the utility model discloses technical scheme has that the degree of freedom is many, with low costs, the noise is little, flexible high, quality and inertia are little, the load dead weight is higher advantage such as, can effectively carry out optimal design and improvement work efficiency to robot drive joint.
Description
Technical Field
The utility model relates to a robot arm technical field, in particular to seven degree of freedom humanoid arms of rope drive based on parallel mechanism.
Background
The seven-degree-of-freedom mechanical arm has six degrees of freedom needed by realizing any pose in a three-dimensional space, so that the redundant robot is formed, but the seven-degree-of-freedom mechanical arm has higher flexibility, stronger task execution and environment adaptability and stronger obstacle avoidance function, is concerned about and is an important robot.
The traditional mechanical arm is generally in a series structure, a driving motor is mostly arranged at a joint, the mass and inertia of the whole mechanical arm are large, and the performance of high-speed movement and quick response is seriously influenced. In order to solve the technical problems, a rope driving mode is applied, a driving source is intensively placed at the base end in a rope driving transmission mode, and power is transmitted to a driving member at a far distance through a rope, so that the movement weight of the mechanism can be effectively reduced, and the dynamic response performance of the mechanism is improved and paid attention.
For example, patent US12328792 discloses a rope-driven operation arm, which uses serial joints to connect the whole robot arm in series, but the structures of several joints inside the rope-driven operation arm are loose and complicated to route, and the rope-driven operation arm has the defects of low end load capacity, small load dead weight ratio and the like, so that the rope-driven operation arm is difficult to be used in industry and cannot be used in humanoid robots. The rope-driven mechanical arm proposed by patent CN200710063781.9 concentrates all motors on the base, and has strange configuration, loose structure, and difficulty in guaranteeing rigidity and precision, which is a great difference from practical application.
In summary, most of the rope-driven mechanical arm structures disclosed in the prior art are series-connected mechanisms, and due to the major problems of the configuration and the structural design, the advantages of rope driving are not actually exerted, and the expected effect is difficult to achieve.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a degree of freedom is many, with low costs, the noise is little, flexible high, quality and inertia are little, the load dead weight is higher seven degree of freedom humanoid arms of rope drive based on parallel mechanism, aim at carrying out optimal design and improvement work efficiency to robot drive joint.
In order to achieve the above object, the utility model provides a seven degree of freedom of rope drive imitates people arm based on parallel mechanism, including shoulder joint, elbow joint, the wrist joint that links to each other in proper order and the joint connecting piece that links to each other with each joint, shoulder joint and wrist joint are three degree of freedom joints, and the elbow joint is single degree of freedom joint, and shoulder joint and wrist joint inside are equipped with the motion branch chain group of space curve structure and with rope cooperation transmission, the elbow joint passes through gear engagement transmission and rope cooperation transmission.
Preferably, the shoulder parallel mechanism comprises a shoulder fixing platform and a shoulder moving platform which are axially arranged, a moving branch group consisting of a plurality of moving branch chains with space curve structures is arranged between the shoulder fixing platform and the shoulder moving platform, the end part of a single moving branch chain is respectively connected with the shoulder fixing platform and the shoulder moving platform through a Hooke hinge, the other end of the shoulder fixing platform is axially opposite to a shoulder motor fixing frame, a plurality of shoulder gear boxes are arranged between the shoulder motor fixing frame and the shoulder fixing platform and are connected with a shoulder driving motor, two closed chain ropes penetrate into the shoulder moving platform from the shoulder fixing platform and are connected with a transmission mechanism arranged in the shoulder moving platform to form a closed chain, the two closed chain ropes are respectively positioned in two planes and are mutually vertical, the transmission mechanism drives the ropes through the motors, and the two ropes drive the shoulder moving platform to swing to realize two-degree-of-freedom swinging along two rope directions and the shoulder motor drives the shoulder The movable shoulder part fixed platform rotates.
Preferably, the wrist parallel mechanism comprises a wrist fixing platform and a wrist moving platform which are arranged up and down, a moving branch group consisting of a plurality of moving branches with space curve structures is arranged between the wrist fixing platform and the wrist moving platform, and the end parts of the moving branches are respectively connected with the wrist fixing platform and the wrist moving platform through hooke joints; wrist fixed platform top is equipped with the wrist mount, and wrist mount lateral part is equipped with the wrist drive wheel, and wrist fixed platform top surface still is equipped with the wrist rotary disk, and wrist fixed platform bottom surface is equipped with a plurality of wrist pulley rotating turret, and the inside wrist transmission pulley that is equipped with of wrist pulley rotating turret, wrist motion platform top surface are equipped with a plurality of wrist pulley rotating turrets and the wrist transmission pulley that matches with it, and upper portion and the wrist transmission pulley of lower part pass through the rope and link to each other, the motor drive rope of elbow joint transmits the motion component of wrist joint and cooperates the inside rope drive wrist motion platform of wrist joint along X and Y direction motion through the decoupling zero pulley of elbow joint, and the rotation of wrist joint along the Z direction realizes the drive rotation through the wrist rotary disk at rope drive wrist fixed.
Preferably, the movement branched chain group comprises four movement branched chains which are uniformly arranged in the circumferential direction, the four movement branched chains are uniformly distributed along the circumference at intervals of 90 degrees, and a curved connecting rod and a hooke joint are arranged in the middle of each movement branched chain.
Preferably, the elbow joint comprises an elbow rotating frame, an elbow fixing frame, an elbow middle holding frame, a transmission pulley and a decoupling pulley. The elbow rotating frame is connected with the elbow fixing frame through a shaft shoulder and a shaft neck, the elbow fixing frame is fixed on a small arm and a large arm of an arm respectively through bolts, an elbow joint drives a motor driving wheel fixed on the motor fixing frame through an elbow motor to transmit motion to a motor driving wheel, and then a rope drives decoupling pulleys on the upper side and the lower side of the elbow, so that pure rolling motion of the small arm in the direction relative to the large arm is realized.
The utility model discloses technical scheme prior art has following advantage relatively:
the utility model discloses technical scheme adopts the parallel mechanism that the structure is the same with the shoulder in the seven degree of freedom imitative human mechanical arm wrists of rope drive based on parallel mechanism, has increased the rigidity of whole arm, can realize the high load dead weight ratio under the lighter condition of quality. The utility model discloses technical scheme still can be according to human arm with the arm decompose into wrist joint, elbow joint and shoulder joint, wrist joint and shoulder joint have the same structure, design respectively to every unit, has reduced the design degree of difficulty, adopts the thought of functional partitioning moreover, and mechanism reconsitution nature is better, realizes the modularization easily, changes the functional module size, can be applicable to not unidimensional human arm fast. The damage can be caused, the quick replacement can be carried out, and the production cost can be reduced in mass production. Additionally, the utility model discloses technical scheme is at wrist joint and the complete decoupling zero of elbow joint, and no interact power and kinematic coupling between the branch chain, easily control, precision and stability are good to whole quality is light, inertia is low, can improve the quick response performance of mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of a rope-driven seven-degree-of-freedom humanoid mechanical arm of the present invention;
fig. 2 is a schematic structural view of the shoulder joint of the present invention;
fig. 3 is a schematic structural view of an elbow joint of the present invention;
fig. 4 is a schematic structural view of the wrist joint of the present invention.
The reference numbers illustrate:
the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a seven degree of freedom humanoid arms of rope drive based on parallel mechanism.
As shown in fig. 1, the rope-driven seven-degree-of-freedom humanoid robot arm based on the parallel mechanism of the embodiment of the present invention includes a shoulder joint S, an elbow joint E, a wrist joint W, and an inter-joint connecting member connecting a plurality of joints, wherein the elbow joint E of the embodiment is a single-degree-of-freedom joint, and the shoulder joint S and the wrist joint W are three-degree-of-freedom joints. The wrist joint W and the shoulder joint S of the embodiment both adopt three-degree-of-freedom parallel mechanisms, the elbow joint E adopts a single-degree-of-freedom tension stiffness amplification mechanism, the shoulder joint S is connected with the elbow joint E through a large arm 15, and the elbow joint E is connected with the wrist joint W through a small arm 20, so that the combined motion of the shoulder joint S, the elbow joint E and the wrist joint W in rotation forms the motion of the seven-degree-of-freedom mechanical arm.
Referring to fig. 2, the shoulder joint S with three degrees of freedom of this embodiment includes a shoulder motor fixing frame 1, a shoulder driving motor 2, a shoulder gear box 3, a shoulder connecting member 4, a shoulder fixing platform 5, a shoulder driving rope 6, a shoulder curved connecting rod 7, a shoulder hooke joint 8, and a shoulder moving platform 9. Wherein, the shoulder motor 2 and the gear box 3 are fixed on the motor base 1 and then connected with the shoulder fixing platform 5 through the shoulder connecting piece 4. Four moving branch chains are connected between the shoulder fixing platform 5 and the moving platform 9, each moving branch chain comprises a curved connecting rod 7 and two hooke joints 8, and the four moving branch chains are identical in structure and are uniformly distributed along the circumference at an angle of 90 degrees relative to the central axis of the shoulder joint S.
Referring to fig. 3, the single-degree-of-freedom elbow joint of the present embodiment includes an elbow motor 10, a motor driving wheel 11, a motor fixing frame 12, a motor driving wheel 13, a motor elbow rotating frame 16, an elbow fixing frame 17, an elbow middle holding frame 18, and an elbow decoupling pulley 19. The elbow rotating frame 16 is connected with the elbow fixing frame 17 through a shaft shoulder and a shaft neck, the elbow fixing frame 17 is respectively fixed on the small arm 15 and the large arm 20 through bolts, the elbow motion is realized mainly by that the elbow motor 10 drives the motor driving wheel 11 fixed on the motor fixing frame 12 to transmit the motion to the motor driving wheel 13, and then the elbow rope E _ S drives the decoupling pulleys 19 on the upper side and the lower side of the elbow, so that the pure rolling motion of the small arm 15 along the direction of the large arm is realized.
Referring to fig. 4, the wrist joint W with three degrees of freedom of the present embodiment includes a wrist fixing platform 24, a wrist transmission pulley 25, a wrist pulley rotating frame 26, a wrist pulley holding frame 27, a wrist curve connecting rod 28, a wrist middle shaft 29, a wrist hooke joint 30, and a wrist movement platform 31. The wrist joint middle moving platform 31 and the wrist fixing platform 24 are connected with four moving branch chains through kinematic pairs, each moving branch chain comprises a wrist curve connecting rod 28, a wrist hook hinge 30, a wrist transmission pulley 25, a wrist pulley rotating frame 26 and a wrist pulley holding frame 27, and the four moving branch chains are identical in structure and are uniformly distributed along the circumference at an angle of 90 degrees with respect to the central axis of a wrist middle shaft 29. The rotation of the wrist along the vertical direction is driven by a rope W _ S3 to drive the wrist rotating disc 23 around a wrist driving wheel 21 fixed on a wrist fixing frame 22, and drives a wrist middle shaft 29 to realize the rotation of the tail end arm along the vertical direction, the rotation of the wrist joint X, Y direction is respectively driven by ropes W _ S1 and W _ S2 to drive the wrist transmission pulleys 25 at the upper side and the lower side, and the tail end platform 31 is driven to rotate along the direction X, Y.
This embodiment is based on seven degree of freedom anthropomorphic robot arms of rope drive of parallel mechanism adopts motor drive, the rope transmission, shoulder drive rope 6 is located the parallel mechanism outside of shoulder joint S, shoulder drive rope 6 ' S one end links to each other with shoulder fixed platform 5, and inside shoulder drive rope 6 ' S the other end penetrated shoulder motion platform 9, shoulder drive rope 6 ' S tip accessible spiro union, the welding, the centre gripping is perhaps twined and is linked to each other with shoulder fixed platform 5 is fixed, elbow joint E ' S drive rope is located the elbow joint E outside, wrist joint W ' S drive rope is located the wrist parallel mechanism outside, because the rope transmission can pass through elbow joint E, consequently need transmit the wrist joint through elbow decoupling zero pulley 19 with the rope, then pass wrist motion platform 31, the rethread pulling rope drive mechanism motion.
The above only is the preferred embodiment of the present invention, not so limiting the patent scope of the present invention, all under the concept of the present invention, the equivalent structure transformation made by the contents of the specification and the drawings is utilized, or the direct/indirect application is included in other related technical fields in the patent protection scope of the present invention.
Claims (5)
1. The rope-driven seven-degree-of-freedom humanoid mechanical arm based on the parallel mechanism is characterized by comprising a shoulder joint, an elbow joint and a wrist joint which are sequentially connected, and joints connecting the joints, wherein the shoulder joint and the wrist joint are three-degree-of-freedom joints, the elbow joint is a single-degree-of-freedom joint, a motion branched chain group with a space curve structure is arranged inside the shoulder joint and the wrist joint, and is in matched transmission with a rope, and the elbow joint is in meshed transmission through a gear and is in matched transmission with the rope.
2. The rope-driven seven-degree-of-freedom humanoid mechanical arm based on the parallel mechanism as claimed in claim 1, wherein the shoulder parallel mechanism comprises a shoulder fixing platform and a shoulder moving platform which are axially arranged, a moving branch group consisting of a plurality of moving branch chains with space curve structures is arranged between the shoulder fixing platform and the shoulder moving platform, the end part of a single moving branch chain is respectively connected with the shoulder fixing platform and the shoulder moving platform through a Hooke hinge, the other end of the shoulder fixing platform is axially opposite to a shoulder motor fixing frame, a plurality of shoulder gear boxes are arranged between the shoulder motor fixing frame and the shoulder fixing platform and are connected with a shoulder driving motor, two closed-loop chain ropes penetrate into the shoulder moving platform from the shoulder fixing platform and are connected with a transmission mechanism arranged in the shoulder moving platform to form a closed chain, and the two closed-loop chain ropes are respectively arranged in two planes and are mutually perpendicular, the transmission mechanism drives the ropes through the motor, the two ropes drive the shoulder moving platform to swing so as to realize two-degree-of-freedom swinging along the directions of the two ropes and the shoulder motor drives the shoulder fixing platform to rotate.
3. The rope-driven seven-degree-of-freedom humanoid robot arm based on the parallel mechanism as claimed in claim 2, wherein the wrist parallel mechanism comprises a wrist fixing platform and a wrist moving platform which are arranged up and down, a moving branch group consisting of a plurality of moving branches with space curve structures is arranged between the wrist fixing platform and the wrist moving platform, and the end parts of the moving branches are respectively connected with the wrist fixing platform and the wrist moving platform through hooke joints; wrist fixed platform top is equipped with the wrist mount, and wrist mount lateral part is equipped with the wrist drive wheel, and wrist fixed platform top surface still is equipped with the wrist rotary disk, and wrist fixed platform bottom surface is equipped with a plurality of wrist pulley rotating turret, and the inside wrist transmission pulley that is equipped with of wrist pulley rotating turret, wrist motion platform top surface are equipped with a plurality of wrist pulley rotating turrets and the wrist transmission pulley that matches with it, and upper portion and the wrist transmission pulley of lower part pass through the rope and link to each other, the motor drive rope of elbow joint transmits the motion component of wrist joint and cooperates the inside rope drive wrist motion platform of wrist joint along X and Y direction motion through the decoupling zero pulley of elbow joint, and the rotation of wrist joint along the Z direction realizes the drive rotation through the wrist rotary disk at rope drive wrist fixed.
4. The rope-driven seven-degree-of-freedom humanoid mechanical arm based on the parallel mechanism as claimed in claim 3, wherein the motion branched chain group comprises four motion branched chains which are uniformly arranged in the circumferential direction, the four motion branched chains are uniformly distributed along the circumference at intervals of 90 degrees, and a curved connecting rod is arranged in the middle of each motion branched chain and a Hooke joint is arranged at the end of each motion branched chain.
5. The parallel mechanism based rope driven seven-degree-of-freedom humanoid mechanical arm of claim 3, wherein the elbow joint comprises an elbow rotating frame, an elbow fixing frame, an elbow middle retainer, a transmission pulley and a decoupling pulley; the elbow rotating frame is connected with the elbow fixing frame through a shaft shoulder and a shaft neck, the elbow fixing frame is fixed on a small arm and a large arm of an arm respectively through bolts, an elbow joint drives a motor driving wheel fixed on the motor fixing frame through an elbow motor to transmit motion to a motor driving wheel, and then a rope drives decoupling pulleys on the upper side and the lower side of the elbow, so that pure rolling motion of the small arm in the direction relative to the large arm is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921584918.XU CN211682200U (en) | 2019-09-23 | 2019-09-23 | Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921584918.XU CN211682200U (en) | 2019-09-23 | 2019-09-23 | Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211682200U true CN211682200U (en) | 2020-10-16 |
Family
ID=72770998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921584918.XU Active CN211682200U (en) | 2019-09-23 | 2019-09-23 | Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211682200U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666833A (en) * | 2019-09-23 | 2020-01-10 | 广东工业大学 | Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism |
-
2019
- 2019-09-23 CN CN201921584918.XU patent/CN211682200U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666833A (en) * | 2019-09-23 | 2020-01-10 | 广东工业大学 | Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism |
| CN110666833B (en) * | 2019-09-23 | 2024-05-31 | 广东工业大学 | Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110666833B (en) | Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism | |
| EP2252437B1 (en) | Two degree-of-freedom parallel manipulator | |
| CN107433574B (en) | Six-freedom-degree series-parallel assembly robot | |
| CN109605333B (en) | Spring and rope hybrid drive branched chain and three-rotational-freedom parallel robot | |
| CN110815185B (en) | Six-degree-of-freedom high-speed parallel mechanism containing composite branched chain | |
| US10246276B2 (en) | Cable-strut combination driven parallel robotic palletizer | |
| CN110815183B (en) | Four-freedom-degree high-speed parallel robot mechanism with double-drive branched chains | |
| CN110666774B (en) | Three-degree-of-freedom rope driving joint module based on parallel mechanism | |
| CN107717959B (en) | Partially-decoupled SCARA high-speed parallel manipulator | |
| CN105127633B (en) | Seven-axis industrial welding robot | |
| CN103707281A (en) | Spatial four-degree-of-freedom parallel mechanism capable of three-dimensional translation and one-dimensional rotation | |
| CN110815182B (en) | Five-degree-of-freedom parallel mechanism containing dual-drive composite branched chains | |
| CN211682119U (en) | Modularized rope-driven humanoid arm | |
| CN113977560B (en) | Four-activity parallel robot with variable-rod-length parallelogram closed-loop subchain | |
| CN113478473A (en) | Light hybrid drive bionic mechanical arm | |
| CN211682200U (en) | Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism | |
| CN114227648A (en) | High-rigidity five-degree-of-freedom parallel drive robot | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN204604316U (en) | A kind of hybrid type robot | |
| JP4124232B2 (en) | Robot with horizontal arm | |
| CN202825823U (en) | Space six-freedom-degree mechanism capable of independently controlling rotating movement and translation movement | |
| CN214818580U (en) | Split type modularized seven-degree-of-freedom rope-driven artificial arm | |
| JP3777783B2 (en) | Robot with horizontal arm | |
| CN106826767B (en) | Six-degree-of-freedom parallel mechanism based on grabbing parallel structure | |
| CN211193870U (en) | Three-degree-of-freedom rope driving joint module based on parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |