WO2020010901A1

WO2020010901A1 - Cable-driven flexible joint and flexible mechanical arm

Info

Publication number: WO2020010901A1
Application number: PCT/CN2019/084730
Authority: WO
Inventors: 徐文福; 尤开灵; 刘天亮; 梁斌
Original assignee: 哈尔滨工业大学（深圳）
Priority date: 2018-07-13
Filing date: 2019-04-28
Publication date: 2020-01-16
Also published as: CN108908317A

Abstract

A cable-driven flexible joint and a cable-driven flexible mechanical arm. The cable-driven flexible joint comprises a universal joint (1), a first rotary connection member (2), and a first encoder (3). The first rotary connection member (2) is rotatably provided on the universal joint (1). The first encoder (3) comprises a first rotor (30) and a first stator (31). The first rotor (30) is fixedly connected to the first rotary connection member (2), and the first stator (31) is fixedly connected to the universal joint (1). The cable-driven flexible mechanical arm comprises the cable-driven flexible joints. A rotary member (8) is provided between adjacent two cable-driven flexible joints. Two ends of the rotary member (8) are respectively fixedly connected to the first rotary connection members (2) or second rotary connection members (4) of the two cable-driven flexible joints. The cable-driven flexible joint and the cable-driven flexible mechanical arm accurately measures a rotation angle between joints.

Description

Rope-driven flexible joint and flexible mechanical arm Ranch

Technical field

The invention relates to the technical field of robots, in particular to a rope-driven flexible arm joint and a flexible mechanical arm using the flexible joint.

Background technique

The existing joint groups of the flexible robot driven by the rope are generally divided into three types. The first one uses elastic elements such as springs as the elastic joints of the rotatable part, and the second uses cross universal joints as the joint parts of the rotatable part. This may increase elastic elements such as springs, and the third type uses a ball twist as a rotatable part of the ball twist joint. However, the existing joint groups of the rope-driven flexible robots do not have the function of measuring the angle, which is an urgent problem for the precise control of the joint groups.

Summary of the invention

In order to overcome the shortcomings of the prior art, the present invention provides a rope-driven flexible joint group.

The invention also provides a flexible mechanical arm driven by a rope, which can accurately detect the rotation angle between the joints of the mechanical arm.

The technical solution adopted by the present invention to solve its technical problem is to provide a flexible joint driven by a rope, comprising: a universal joint, a first rotary connection member, and a first encoder, and the first rotary connection member is rotatably provided at On the universal joint, the first encoder includes a first rotor and a first stator, and the first rotor is fixedly connected to the first rotary connection member so as to rotate with the first rotary connection member. Together, the first stator is fixedly connected to the universal joint.

As a further improvement of the above technical solution, it further includes a second rotary connection member and a second encoder. The universal joint is provided with a first rotation center and a second rotation center that are perpendicular to each other. The first rotation center is rotatably disposed on the universal joint, the second rotation connection member is rotatably disposed on the universal joint about the center of the second rotor, and the second encoder includes a second rotor With the second stator, the second rotation is fixedly connected with the second rotation connection, and the second stator is fixedly connected with the universal joint.

As a further improvement to the above technical solution, the first rotary connection member and the universal joint are rotatably connected to the first rotary shaft of the universal joint through the first rotary connection member, and the first rotary shaft One end is provided with a first connecting plate fixedly connected to the first rotating connecting member, and the other end of the first rotating shaft is embedded in the first rotor.

As a further improvement of the above technical solution, a first key is provided on an end of the first rotating shaft facing the first rotor, and a first clamping slot for receiving the first key is provided on the first rotor.

As a further improvement of the above technical solution, a first fixing member is protruded from the first stator, and the first fixing member is fixedly connected to the universal joint.

As a further improvement of the above technical solution, the second rotary connection member and the universal joint are rotatably connected to the second rotary shaft of the universal joint through the second rotary connection member, and the second rotary shaft One end is provided with a second connecting plate fixedly connected to the second rotating connecting member, and the other end of the second rotating shaft is embedded in the second rotor.

As a further improvement of the above technical solution, a second key is provided on an end of the second rotating shaft facing the second rotor, and a second card slot for receiving the second key is provided on the second rotor.

As a further improvement of the above technical solution, a second fixing member is protruded from the second stator, and the second fixing member is fixedly connected to the universal joint.

The invention also provides a rope-driven flexible mechanical arm, which includes a plurality of rope-driven flexible joints as described above. Rotating members are provided between two adjacent rope-driven flexible joints, and two ends of the rotating member are respectively The first rotary connection or the second rotary connection of the two flexible joints driven by the rope is fixedly connected.

The beneficial effects of the present invention are:

The flexible joint driven by the rope of the present invention realizes the rotation between the universal joint and the first rotary connecting member through rotation connection, and a first encoder is further provided between the universal joint and the first rotary connecting member. The first encoder includes a first rotor and a first stator. The first rotor is fixedly connected to the first rotary connecting member, and the first rotor and the first rotary connecting member rotate together. The first stator and the universal joint are fixedly connected. When a rotating connection member is rotated relative to the universal joint, the rotation change information of the two can be reflected on the first encoder, and the specific reaction is the relative rotation relationship between the first rotor and the first stator of the first encoder. Therefore, the first encoder can accurately detect the rotation angle of the first rotary connection member relative to the universal joint.

The rope-driven flexible mechanical arm of the invention can accurately detect the rotation angle between various joints.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is further described below with reference to the drawings and embodiments.

1 is a schematic structural diagram of a rope-driven joint according to an embodiment of the present invention;

2 is a schematic cross-sectional view of a connection point of the first encoder in FIG. 1;

3 is a schematic structural diagram of a rope-driven mechanical arm according to an embodiment of the present invention.

detailed description

In the following, the concept, specific structure, and technical effects of the present invention will be clearly and completely described in combination with the embodiments and the drawings to fully understand the objects, schemes, and effects of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

It should be noted that, if there is no special explanation, when a certain feature is called "fixed" and "connected" to another feature, it can be directly fixed and connected to another feature, or it can be indirectly fixed and connected to another feature. One characteristic. In addition, the descriptions of the upper, lower, left, right, front, rear, etc. used in the present invention are only relative to the mutual positional relationship of the components of the present invention in the drawings.

In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the term "and / or" includes any combination of one or more of the associated listed items.

Referring to FIG. 1, a rope-driven flexible joint according to an embodiment of the present invention is shown, which includes a universal joint 1, a first rotary connector 2, a first encoder 3, a second rotary connector 4, and a second encoder 5. .

The universal joint 1 is provided with a first rotation center A and a second rotation center B which are perpendicular to each other. The first rotation connection member 2 and the second rotation connection member 4 are respectively rotated by the first rotation center A and the second rotation center B. On the universal joint 1, of course, in different embodiments, the first rotary connection member 2 and the second rotary connection member 4 may be rotated and set at the universal joint with the second rotation center B and the first rotation center A, respectively. 1 on.

The first rotary connector 2 is rotatably disposed on the universal joint 1. The first encoder 3 includes a first rotor 30 and a first stator 31. The first rotor 30 is fixedly connected to the first rotary connector 2 and the first stator. 31 is fixedly connected to the universal joint 1. When the first rotary joint 2 rotates relative to the universal joint 1, the first rotor 30 rotates together with the first rotary joint 2, and the first stator 31 and the universal joint 1 remain stationary. The rotation angle of the first rotation connection 2 can accurately reflect the relative rotation between the first rotor 30 and the first stator 31.

Specifically, as shown in FIG. 2, the first connecting member 2 and the universal joint 1 are provided with a through hole communicating with the axis on the first rotation center A. The first connecting member 2 and the universal joint 1 pass through the through hole. The first rotating shaft 6 is connected to one end. A first connecting plate 60 is provided at one end of the first rotating shaft 6. The first connecting plate 60 is attached to the surface of the first connecting member 2 and is fixedly connected to the first connecting member 2. The other end of the rotating shaft 6 is embedded in the first rotor 30 and drives the first rotor 30 to rotate. Preferably, a first key 61 is provided at one end of the first rotating shaft 6 facing the first rotor 30. A locking slot 300 for receiving the first key 61 is defined in the first rotor 30. The first key 61 and the first locking slot 300 are used. The key connection mode cooperates to ensure common rotation between the first rotor 30 and the first rotating shaft 6.

A first fixing member 310 protrudes from the first stator 31, and the first fixing member 310 is fixedly connected to the universal joint 1 so as to ensure the fastening between the first stator 31 and the universal joint 1. In this embodiment, The first fixing member 310 and the universal joint 1 are preferably fixed by bolts.

As shown in FIG. 1 and FIG. 2, the second rotary connector 4 is rotatably disposed on the universal joint 1. The first encoder 5 includes a second rotor 50 and a second stator 51. The second rotor 50 is fixed to the second rotary connector 4. The second stator 51 is fixedly connected to the universal joint 1. When the second rotary connection 4 rotates relative to the universal joint 1, the second rotor 50 rotates together with the second rotary connection 4. The second stator 51 and the universal joint The joint 1 remains stationary, and the rotation angle of the second rotating connecting member 4 can accurately reflect the relative rotation between the second rotor 50 and the second stator 51.

Specifically, the second connecting member 4 and the universal joint 1 are provided with a through hole communicating with the axis on the second rotation center B, and the second connecting member 4 and the universal joint 1 pass through the second rotation through the through hole. The shaft 7 is connected. One end of the second rotating shaft 7 is provided with a second connecting plate 70. The second connecting plate 70 is attached to the surface of the second connecting member 4 and is fixedly connected to the second connecting member 7. One end is embedded in the second rotor 50 and drives the second rotor 50 to rotate. Preferably, a second key 71 is provided at one end of the second rotating shaft 7 facing the second rotor 50. A second slot 71 is provided on the second rotor 50 to receive the second key 71. The second key 71 and the second slot 500 are used. The key connection mode cooperates to ensure common rotation between the second rotor 50 and the second rotating shaft 7.

A second fixing member 510 extends from the second stator 51, and the second fixing member 510 is fixedly connected to the universal joint 1, thereby ensuring the fastening between the second stator 51 and the universal joint 1. In this embodiment, the first The two fixing members 510 and the universal joint 1 are preferably fixed by bolts.

As shown in FIG. 3, the present invention also provides a rope-driven flexible mechanical arm, which includes a plurality of rope-driven flexible joints as described above, and a rotating member 8 is provided between two adjacent rope-driven flexible joints. The two ends of 8 are fixedly connected to the first rotary connection 2 or the second rotary connection 4 of the flexible joint driven by two adjacent ropes respectively. In this way, the adjacent rotary members 8 can be connected by the universal joint 1 and The first rotary connecting member 2 and the second rotary connecting member 4 rotate, and then the rotation angle between the adjacent rotating members 8 is detected by the first encoder 3 and the second encoder 5.

The flexible mechanical arm driven by the rope of the present invention further includes connecting disks 80 provided at both ends of the rotating member 8. The connecting disk 80 is provided with through holes 82 through which the rope 81 passes, a plurality of flexible joints driven by the rope and a plurality of rotating members The rope 81 passes through the through-hole 82 and drives the movement of the robot arm.

The rope-driven flexible joint and the rope-driven flexible mechanical arm of the present invention have the following advantages:

1. The first encoder 3 and the second encoder 5 accurately detect the rotation angle between each joint.

2. The rotating part 8 and the first rotating connecting part 2, and the second rotating connecting part 4 may adopt a modular design. The universal joint 1, the first rotating shaft 6, the second rotating shaft 7, the first encoder 3, and the second The encoders 5 are all modularly designed to facilitate the production and assembly of the robotic arm.

The above is a detailed description of the preferred implementation of the present invention, but the invention is not limited to the described embodiments, and those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present invention. These equivalent modifications or replacements are all included in the scope defined by the claims of this application.

Claims

A flexible joint driven by a rope, comprising: a universal joint, a first rotary connection member, and a first encoder, wherein the first rotary connection member is rotatably disposed on the universal joint, and the first The encoder includes a first rotor and a first stator. The first rotor is fixedly connected to the first rotary connection member for common rotation with the rotation of the first rotary connection member. The universal joint is fixedly connected.
The flexible joint driven by a rope according to claim 1, further comprising a second rotation connection and a second encoder, wherein the universal joint is provided with a first rotation center and a second rotation center that are perpendicular to each other. The first rotary connection member is rotatably disposed on the universal joint about the first rotation center, and the second rotary connection member is rotatably disposed on the universal joint about the second rotation center, so The second encoder includes a second rotor and a second stator, the second rotor is fixedly connected to the second rotary connection, and the second stator is fixedly connected to the universal joint. Ranch
The flexible joint driven by a rope according to claim 2, wherein the first rotary connection member and the universal joint pass through the first rotary shaft that passes through the first rotary connection member and the universal joint Rotating connection. One end of the first rotating shaft is provided with a first connecting plate fixedly connected to the first rotating connecting member, and the other end of the first rotating shaft is embedded in the first rotor. Ranch
The flexible joint driven by a rope according to claim 3, wherein a first key is provided on an end of the first rotating shaft toward the first rotor, and the first rotor is provided with a space for accommodating the first rotor. One-click first card slot. Ranch
The flexible joint driven by a rope according to claim 4, wherein a first fixing member is protruded from the first stator, and the first fixing member is fixedly connected to the universal joint. Ranch
The flexible joint driven by a rope according to claim 2, wherein the second rotary connection member and the universal joint pass through a second rotary shaft that passes through the second rotary connection member and the universal joint Rotating connection, one end of the second rotating shaft is provided with a second connecting plate fixedly connected to the second rotating connecting member, and the other end of the second rotating shaft is embedded in the second rotor. Ranch
The flexible joint driven by a rope according to claim 6, wherein a second key is provided on an end of the second rotating shaft toward the second rotor, and the second rotor is provided with a space for accommodating the first Second card slot with two keys. Ranch
The flexible joint driven by a rope according to claim 7, wherein a second fixing member protrudes from the second stator, and the second fixing member is fixedly connected to the universal joint. Ranch
A flexible robotic arm driven by a rope, comprising a plurality of flexible joints driven by a rope according to any one of claims 1-8, and a rotation is provided between two adjacent flexible joints driven by the rope. Two ends of the rotating member are respectively fixedly connected with the first rotating connecting member or the second rotating connecting member of the two flexible joints driven by the rope. Ranch