WO2020215386A1 - 基于绳索驱动的二自由度大转角柔性机器人关节、机器人 - Google Patents

基于绳索驱动的二自由度大转角柔性机器人关节、机器人 Download PDF

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Publication number
WO2020215386A1
WO2020215386A1 PCT/CN2019/086334 CN2019086334W WO2020215386A1 WO 2020215386 A1 WO2020215386 A1 WO 2020215386A1 CN 2019086334 W CN2019086334 W CN 2019086334W WO 2020215386 A1 WO2020215386 A1 WO 2020215386A1
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WIPO (PCT)
Prior art keywords
hinge
shaft hole
degree
joint
rope
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PCT/CN2019/086334
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English (en)
French (fr)
Inventor
徐文福
刘天亮
黄健
梁斌
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哈尔滨工业大学（深圳）
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Application filed by 哈尔滨工业大学（深圳） filed Critical 哈尔滨工业大学（深圳）
Publication of WO2020215386A1 publication Critical patent/WO2020215386A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Definitions

  • the invention relates to the technical field of robots, in particular to a two-degree-of-freedom large-angle flexible robot joint and robot based on rope drive.
  • Rope-driven hyper-redundant manipulators are usually equipped with multiple joint rods, which are connected to each other.
  • the driving device drives the rope to drive the joint rods to move around the joints to achieve mutual movement between the joint rods, thereby increasing the redundant machinery
  • the overall flexibility of the arm makes it extremely capable of avoiding obstacles and can be used in aerospace, military reconnaissance and other fields.
  • the joint part mostly uses a cross universal joint as the revolving joint of the rotatable part.
  • the rotation range of the joint is small and the flexibility is not high.
  • the embodiment of the present invention provides a two-degree-of-freedom large-angle flexible robot joint based on rope drive, which has a larger rotation angle and is more flexible.
  • the technical solution adopted by the embodiment of the present invention to solve the above-mentioned technical problems is to provide a two-degree-of-freedom large-angle flexible robot joint based on a rope drive, which includes a first joint rod, a second joint rod, and a rotating connector.
  • One end of the piece is hingedly connected with a first hinge piece
  • the first hinge piece is hingedly connected with the first joint lever
  • the other end of the rotation connecting piece is hingedly connected with a second hinge piece
  • the second hinge piece is hingedly connected with The second joint rod is hingedly connected.
  • the hinged connection between the rotating connecting piece and the first hinge is a first hinge
  • the hinged connection between the first hinge and the first articulating rod is a second hinge.
  • the axial direction of the first hinge part and the axial direction of the second hinge part are perpendicular to each other;
  • the hinged connection between the rotating connection piece and the second hinge piece is a third hinge portion
  • the hinge connection between the second hinge piece and the second joint lever is a fourth hinge portion
  • the axis of the third hinge piece is The direction is perpendicular to the axial direction of the fourth hinge part.
  • the first hinge is provided with a first shaft hole and a second shaft hole
  • the end surface of the first articulated rod is provided with a third shaft hole
  • the rotating connection piece faces the
  • One end of the first hinge is provided with a fourth shaft hole
  • the first shaft hole and the fourth shaft hole are connected by a first rotation pin
  • the second shaft hole and the fourth shaft hole are rotated through a second rotation Pin connection.
  • buckle rings are provided at both ends of the first rotating pin and the second rotating pin.
  • the second hinge is provided with a fifth shaft hole and a sixth shaft hole
  • the end surface of the second articulated rod is provided with a seventh shaft hole
  • the rotating connection piece faces the
  • One end of the second hinge is provided with an eighth shaft hole
  • the fifth shaft hole and the seventh shaft hole are connected by a third rotation pin
  • the sixth shaft hole and the eighth shaft hole pass through a fourth rotation Pin connection.
  • buckles are provided at both ends of the third rotating pin and the fourth rotating pin.
  • At least three of the rotating connection parts, the first hinge part and the second hinge part are evenly arranged in the circumferential direction between the first joint rod and the second joint rod.
  • the rotating connection piece has a spiral structure.
  • the present invention also provides a robot, which includes the above-mentioned rope-driven two-degree-of-freedom large-angle flexible robot joint.
  • the rope-driven two-degree-of-freedom large-angle flexible robot joint of the present invention includes a first joint rod, a second joint rod, and a rotating connection piece.
  • One end of the rotation connection piece is hingedly connected with a first hinge piece.
  • the hinge is hingedly connected with the first articulated rod
  • the other end of the rotary connection is hingedly connected with a second hinge
  • the second hinge is hingedly connected with the second articulated rod.
  • Both ends of the rotating connecting piece are provided with a rotating structure with two degrees of freedom. Compared with the rotating structure of the traditional cross universal joint, the rotating angle is significantly improved and the flexibility is better.
  • Figure 1 is a schematic structural diagram of a rope-driven two-degree-of-freedom large-angle flexible robot joint according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the split structure of a two-degree-of-freedom large-angle flexible robot joint based on a rope drive according to an embodiment of the present invention
  • Fig. 3 is a schematic diagram of a partial enlarged structure at A in Fig. 2;
  • FIG. 4 is a schematic diagram of a partial enlarged structure at B in FIG. 2;
  • Fig. 5 is a schematic diagram of the structure of Fig. 1 after rotating a certain angle in one degree of freedom direction.
  • the rope-driven two-degree-of-freedom large-angle flexible robot joint of the embodiment of the present invention includes a first joint rod 1 and a second joint rod 2, and a rotation connection is provided between the first joint rod 1 and the second joint rod 2 Module, the relative rotation between the first articulated rod 1 and the second articulated rod 2 is realized by rotating the connection module.
  • a driving rope 3 is passed between the first articulated rod 1 and the second joint rod 2, and the driving rope 3 is tightened. The relative rotation between the first joint rod 1 and the second joint rod 2 is driven.
  • the rotating connection module includes a rotating connecting piece 4, a first hinged piece 5, and a second hinged piece 6.
  • One end of the rotating connecting piece 4 is hingedly connected to the first hinged piece 5, and the first hinged piece 5 is connected to the first hinged piece 5.
  • a joint rod 1 is hingedly connected, the other end of the rotating connecting piece 4 is hingedly connected with the second hinge piece 6, and the second hinge piece 6 is hingedly connected with the second joint rod 2.
  • hinge joint between the rotating connector 4 and the first hinge member 5 is the first hinge part
  • hinge joint between the first hinge part 5 and the first joint lever 1 is the second hinge part
  • the rotating connector 4 and the second hinge part 6 The hinge joint of is the third hinge part
  • the hinge joint of the second hinge member 6 and the second joint lever 2 is the fourth hinge part.
  • the axial direction of the first hinge part and the axial direction of the second hinge part are perpendicular to each other, and the axial direction of the third hinge part and the axial direction of the fourth hinge part are perpendicular to each other.
  • the first hinge part and the second hinge part form a two-degree-of-freedom rotation structure, and the third hinge part and the fourth hinge part form another two-degree-of-freedom rotation structure.
  • the two two-degree-of-freedom rotation structures reinforce each other, significantly improving the overall Angle of rotation.
  • the first hinge part and the second hinge part have a preset offset distance
  • the third hinge part and the fourth hinge part have a preset offset distance.
  • the embodiment of the present invention sets a preset offset distance between the first hinge part and the second hinge part, and between the third hinge part and the fourth hinge part, thereby increasing the rotation connection 4 The range of rotation further increases the rotation angle, and the flexibility is better.
  • Figure 2 shows a schematic diagram of the split structure of a two-degree-of-freedom large-angle flexible robot joint based on a rope drive according to an embodiment of the present invention.
  • the first hinge member 5 is provided with a first shaft hole 50 and a second shaft hole 51, and the axial direction of the first shaft hole 50 and the axial direction of the second shaft hole 51 are perpendicular to each other, And there is a certain offset between the first shaft hole 50 and the second shaft hole 51, the end surface of the first articulated rod 1 is provided with a third shaft hole 10, and the end of the rotating connector 4 facing the first hinge member 5 is provided with a
  • the four-axis hole 40, the first shaft hole 50 and the third shaft hole 10 are connected by the first rotating pin 70 to realize the hinge connection between the first hinge member 5 and the first joint rod 1, the second shaft hole 51 and the fourth shaft hole 40 is connected by the second rotating pin 71 to realize the hinge connection of the rotating connecting piece 4 and the first hinge piece 5.
  • the end surface of the first joint rod 1 is provided with a first mounting pair of lugs 11, and there is a certain distance between the first mounting pair of lugs 11 to install the first hinge member 5, and the above-mentioned first shaft is provided on the first mounting pair of lugs 11 ⁇ 50.
  • Both ends of the first rotating pin 70 are provided with buckle rings 80, and the buckle ring 80 limits the first rotating pin 70 to limit the axial sliding of the first rotating pin 70; both ends of the second rotating pin 71 are provided with buckle rings 81 , The retaining ring 81 restricts the second rotating pin 71 to limit the axial sliding of the second rotating pin 71.
  • the length of the first rotating pin 70 is greater than the length of the second rotating pin 71.
  • the second hinge member 6 is provided with a fifth shaft hole 60 and a sixth shaft hole 61
  • the end surface of the second joint rod 2 is provided with a seventh shaft hole 20
  • the rotating connection member 4 faces
  • One end of the second hinge part 6 is provided with an eighth shaft hole 41
  • the fifth shaft hole 60 and the seventh shaft hole 20 are connected by a third rotation pin 72 to realize the hinge connection between the second hinge part 6 and the second joint rod 2
  • the sixth shaft hole 61 and the eighth shaft hole 41 are connected by the fourth rotating pin 73 to realize the hinged connection of the second hinge 6 and the rotating connection 4.
  • the end surface of the second joint rod 2 is provided with a second mounting pair of ears 21, and a certain distance is provided between the second mounting pair of ears 21 to install the above-mentioned second hinge member 6, and the second mounting pair of ears 21 is provided with the above
  • the seventh shaft hole 20 is used to connect with the fifth shaft hole 60.
  • Both ends of the third rotating pin 72 are provided with buckle rings 82.
  • the buckle rings 82 limit the positions of the two ends of the third rotating pin 72 to prevent axial sliding of the third rotating pin 72.
  • Both ends of the fourth rotating pin 73 A retaining ring 83 is provided, and both ends of the fourth rotating pin 73 are restricted by the retaining ring 83 to prevent axial sliding of the fourth rotating pin 73.
  • At least three rotating connection modules are provided, and at least three rotating connection modules are arranged along the first joint rod 1 and the second joint rod. 2 are evenly arranged in the circumferential direction, as shown in Fig. 1, the rotating connection modules are preferably arranged in three places.
  • the rotating connector 4 is arranged in a spiral structure.
  • the driving rope 3 in order to achieve two-degree-of-freedom movement, includes 4 locations.
  • the driving ropes 3 are evenly arranged in the circumferential direction at 4 locations.
  • the driving rope 3 passes through the first joint rod 1, and one end of the driving rope 3 is connected to
  • the second joint rod 2 is fixedly connected, and the other end of the driving rope 3 is connected with a driving motor.
  • FIG. 5 shows a schematic diagram of the structure after rotating a certain angle on a degree of freedom.
  • the length of the four driving ropes 3 is L.
  • the axis The direction length is unchanged, Its length is still L, and the rotation part of the joint is in an isosceles trapezoid structure. From the distribution structure of the four driving ropes 3, it can be seen that the inner and outer driving ropes are symmetrical with the middle rope as the center.
  • the amount of change of the rope length is equal, so two driving ropes 3 separated by 180 degrees can be driven by one motor, so that one of the driving ropes 3 is stretched, and the other driving rope 3 is relaxed.
  • the whole only needs two driving motors.
  • the rotation of two degrees of freedom improves the stability of the system and reduces the cost at the same time.
  • the joint has the ability to operate rigid joints in space, and has the function of two degrees of freedom and large angle range bending motion, which can make the robot arm have higher flexibility and stronger obstacle avoidance ability, suitable for non-structural environments.
  • the joint rotation is symmetrical, which can make the two drive motors drive two sets of drive ropes to drive the joint rotation, reduce the number of drive motors, improve the stability of the system, and reduce the cost of the system.
  • the use of remote rope drive direction reduces the quality of the mechanical arm and improves the corresponding speed.
  • the drive motor and control circuit principle end effector are not susceptible to infection and damage from the external environment, and can be applied to special work areas.
  • the present invention also provides a robot, which includes the above-mentioned rope-driven two-degree-of-freedom large-angle flexible robot joint.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种基于绳索驱动的二自由度大转角柔性机器人关节及机器人，包括第一关节杆（1）、第二关节杆（2）以及转动连接件（4），转动连接件（4）的一端铰接连接有第一铰接件（5），第一铰接件（5）与第一关节杆（1）铰接连接，转动连接件（4）的另一端铰接连接有第二铰接件（6），第二铰接件（6）与第二关节杆（2）铰接连接。基于绳索驱动的二自由度大转角柔性机器人关节具有大角度转动，更加灵活的优点。

Description

基于绳索驱动的二自由度大转角柔性机器人关节、机器人
技术领域
本发明涉及机器人技术领域，尤其是涉及一种基于绳索驱动的二自由度大转角柔性机器人关节、机器人。
背景技术
基于绳驱的超冗余机械臂通常设置多个关节杆，多个关节相互连接，通过驱动装置驱动绳索，带动关节杆绕关节运动而实现关节杆之间的相互运动，从而增加超冗余机械臂整体的灵活性，使其具备极强的避障能力，可应用在航空航天、军事侦察等领域。
现有超冗余机械臂技术中，关节部分多采用十字万向节作为可转动部分的转动关节。但实际使用中，该关节转动范围小，灵活性不高。
发明内容
为了解决现有技术的不足，本发明实施例提供一种基于绳索驱动的二自由度大转角柔性机器人关节，其转动角度更大、更加灵活。
本发明实施例解决上述技术问题所采取的技术方案为：提供一种基于绳索驱动的二自由度大转角柔性机器人关节，包括第一关节杆、第二关节杆以及转动连接件，所述转动连接件的一端铰接连接有第一铰接件，所述第一铰接件与所述第一关节杆铰接连接，所述转动连接件的另一端铰接连接有第二铰接件，所述第二铰接件与所述第二关节杆铰接连接。
作为上述技术方案的进一步改进，所述转动连接件与所述第一铰接件铰接连接处为第一铰接部，所述第一铰接件与所述第一关节杆铰接连接处为第二铰接部，所述第一铰接部的轴线方向与所述第二铰接部的轴线方向相互垂直；
所述转动连接件与所述第二铰接件铰接连接处为第三铰接部，所述第二铰接件与所述第二关节杆铰接处为第四铰接部，所述第三铰接部的轴线方向与所述第四铰接部的轴线方向相互垂直。
作为上述技术方案的进一步改进，所述第一铰接部与所述第二铰接部之间具有预设的偏距；所述第三铰接部与所述第四铰接部之间具有预设的偏距。
作为上述技术方案的进一步改进，所述第一铰接件上设有第一轴孔与第二轴孔，所述第一关节杆的端面设有第三轴孔，所述转动连接件朝向所述第一铰接件的一端设有第四轴孔，所述第一轴孔与所述第四轴孔通过第一转动销连接，所述第二轴孔与所述第四轴孔通过第二转动销连接。
作为上述技术方案的进一步改进，所述第一转动销、所述第二转动销的两端设置有扣环。
作为上述技术方案的进一步改进，所述第二铰接件上设有第五轴孔与第六轴孔，所述第二关节杆的端面设有第七轴孔，所述转动连接件朝向所述第二铰接件的一端设有第八轴孔，所述第五轴孔与所述第七轴孔通过第三转动销连接，所述第六轴孔与所述第八轴孔通过第四转动销连接。
作为上述技术方案的进一步改进，所述第三转动销与所述第四转动销的两端设置有扣环。
作为上述技术方案的进一步改进，所述第一关节杆与所述第二关节杆之间周向均匀布置有至少三处所述转动连接件、第一铰接件与第二铰接件。
作为上述技术方案的进一步改进，所述转动连接件呈螺旋形结构。
本发明还提供一种机器人，其包括如上所述的基于绳索驱动的二自由度大转角柔性机器人关节。
本发明的有益效果：
本发明的基于绳索驱动的二自由度大转角柔性机器人关节，包括第一关节杆、第二关节杆以及转动连接件，所述转动连接件的一端铰接连接有第一铰接件，所述第一铰接件与所述第一关节杆铰接连接，所述转动连接件的另一端铰接连接有第二铰接件，所述第二铰接件与所述第二关节杆铰接连接。转动连接件的两端均设置具备两个自由度的转动结构，相比于传统十字万向节的转动结构，其转动角度显著提高，灵活性更好。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1为本发明一个实施例的基于绳索驱动的二自由度大转角柔性机器人关节的结构示意图；
图2为本发明一个实施例的基于绳索驱动的二自由度大转角柔性机器人关节的拆分结构示意图；
图3是图2中A处的局部放大结构示意图；
图4是图2中B处的局部放大结构示意图；
图5为图1在一个自由度方向上转动一定角度后的结构示意图。
具体实施方式
以下将结合实施例和附图对本发明的构思、具体结构及产生的技术效果进行清楚、完整的描述，以充分地理解本发明的目的、方案和效果。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，如无特殊说明，当某一特征被称为“固定”、“连接”在另一个特征，它可以直接固定、连接在另一个特征上，也可以间接地固定、连接在另一个特征上。此外，本发明中所使用的上、下、左、右、前、后等描述仅仅是相对于附图中本发明各组成部分的相互位置关系来说的。
此外，除非另有定义，本文所使用的所有的技术和科学术语与本技术领域的技术人员通常理解的含义相同。本文说明书中所使用的术语只是为了描述具体的实施例，而不是为了限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的组合。
参考图1，本发明实施例的基于绳索驱动的二自由度大转角柔性机器人关节包括第一关节杆1、第二关节杆2，第一关节杆1与第二关节杆2之间设置转动连接模块，第一关节杆1与第二关节杆2之间的相对转动通过转动连接模块实现，第一关节杆1与第二关节杆2之间穿有驱动绳索3，通过驱动绳索3的拉紧驱动第一关节杆1与第二关节杆2之间的相对转动。
如图2与图3，转动连接模块包括转动连接件4、第一铰接件5、第二铰接件6，转动连接件4的一端与第一铰接件5铰接连接，第一铰接件5与第一关节杆1铰接连接，转动连接件4的另一端与第二铰接件6铰接连接，第二铰接件6与第二关节杆2铰接连接。
记转动连接件4与第一铰接件5的铰接处为第一铰接部，第一铰接件5与第一关节杆1的铰接处为第二铰接部；转动连接件4与第二铰接件6的铰接处为第三铰接部，第二铰接件6与第二关节杆2的铰接处为第四铰接部。
在一个实施例中，第一铰接部的轴线方向与第二铰接部的轴线方向相互垂直，第三铰接部的轴线方向与第四铰接部的轴线方向相互垂直。第一铰接部与第二铰接部形成一个二自由度转动结构，第三铰接部与第四铰接部形成另一个二自由度转动结构，两个二自由度转动结构相互增强，显著提高了整体的转动角度。
在优选的实施例中，第一铰接部与第二铰接部之间具有预设的偏距，第三铰接部与第四铰接部之间具有预设的偏距。相比于传统万向节，本发明实施例通过在第一铰接部与第二铰接部之间、第三铰接部与第四铰接部之间设置预设的偏距，增加了转动连接件4的转动范围，进一步增加了转动角度，灵活性更好。
如图2，示出了本发明一个实施例的基于绳索驱动的二自由度大转角柔性机器人关节的拆分结构示意图。在一个实施例中，如图3，第一铰接件5上设有第一轴孔50、第二轴孔51，第一轴孔50的轴线方向与第二轴孔51的轴线方向相互垂直，且第一轴孔50与第二轴孔51之间具有一定的偏距，第一关节杆1的端面设有第三轴孔10，转动连接件4朝向第一铰接件5的一端设有第四轴孔40，第一轴孔50与第三轴孔10通过第一转动销70连接，实现第一铰接件5与第一关节杆1的铰接连接，第二轴孔51与第四轴孔40通过第二转动销71连接，实现转动连接件4与第一铰接件5的铰接连接。
第一关节杆1的端面设置有第一安装对耳11，第一安装对耳11之间具有一定的间距，以安装第一铰接件5，第一安装对耳11上开设上述的第一轴孔50。
第一转动销70的两端设置有扣环80，扣环80对第一转动销70限位，限制第一转动销70的轴向滑动；第二转动销71的两端设有扣环81，扣环81对第二转动销71限位，限制第二转动销71的轴向滑动。
优选的，第一转动销70的长度大于第二转动销71的长度。
在一个实施例中，如图4，第二铰接件6上设有第五轴孔60与第六轴孔61，第二关节杆2的端面设有第七轴孔20，转动连接件4朝向第二铰接件6的一端设有第八轴孔41，第五轴孔60与第七轴孔20通过第三转动销72连接，实现第二铰接件6与第二关节杆2的铰接连接，第六轴孔61与第八轴孔41通过第四转动销73连接，实现第二铰接件6与转动连接件4的铰接连接。
第二关节杆2的端面设有第二安装对耳21，第二安装对耳21之间设有一定的间距，以安装上述的第二铰接件6，第二安装对耳21上开设上述的第七轴孔20，用于与第五轴孔60连接。
第三转动销72的两端设有扣环82，通过扣环82对第三转动销72的两端进行限位，防止第三转动销72发生轴向滑动，第四转动销73的两端设有扣环83，通过扣环83对第四转动销73的两端进行限位，防止第四转动销73发生轴向滑动。
为了避免第一关节杆1与第二关节杆2在相互转动时发生相对位置的偏移，设置有至少三处转动连接模块，至少三处转动连接模块沿第一关节杆1与第二关节杆2的周向方向均匀排布，如图1，转动连接模块优选为设置三处。
进一步地，转动连接件4设置为呈螺旋形结构。
继续参照图1，为了实现二自由度的运动，驱动绳索3包括4处，4处驱动绳索3沿周向方向均匀排布，驱动绳索3穿过第一关节杆1，驱动绳索3的一端与第二关节杆2固定连接，驱动绳索3的另一端连接驱动电机。
在驱动第一关节杆1与第二关节杆2相对转动时，相隔180度的两个驱动绳索通过一个驱动电机驱动，4处驱动绳索3只需要两个驱动电机即可驱动。如图5，示出了在一个自由度上转动一定角度后的结构示意图，在正常伸长状态下，四根驱动绳索3的长度为L，当沿着一个自由度弯曲一定角度后，因轴线方向长度不变， 其长度仍为L，关节的转动部位呈等腰梯形结构，由四处驱动绳索3的分布结构可知，内侧驱动绳索与外侧驱动绳索以中间处的绳索为中心对称，内侧绳长的变化量与外侧绳长的变化量相等，所以，可以用一个电机驱动相隔180度的两个驱动绳索3，使得其中一个驱动绳索3拉伸，另一个驱动绳索3放松，整体只需要两个驱动电机即可实现二自由度的转动，提高了系统的稳定性，同时也降低了成本。
本发明的基于绳索驱动的二自由度大转角柔性机器人关节具有如下优点：
1、关节具有空间刚性关节操作的能力，并具备两个方向自由度、大角度范围弯曲运动的功能，可以使机械臂具有更高的灵活性和更强避障能力，适合非结构环境。
2、关节转动具有对称性，可令两个驱动电机驱动两组驱动绳索带动关节转动，减少驱动电机数目，提高系统的稳定性，同时也降低了系统的成本。
3、采用远程绳索驱动方向，减轻了机械臂的质量，提高相应速度，驱动电机和控制电路原理末端执行器，不易受到外界环境的感染而受到损坏，可适用于特殊工作领域。
本发明还提供一种机器人，其包括如上所述的基于绳索驱动的二自由度大转角柔性机器人关节。
以上是对本发明的较佳实施进行的具体说明，但本发明创造并不限于所述实施例，熟悉本领域的技术人员在不违背本发明精神的前提下还可做出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。

Claims (10)

  1. 一种基于绳索驱动的二自由度大转角柔性机器人关节，其特征在于，包括第一关节杆、第二关节杆以及转动连接件，所述转动连接件的一端铰接连接有第一铰接件，所述第一铰接件与所述第一关节杆铰接连接，所述转动连接件的另一端铰接连接有第二铰接件，所述第二铰接件与所述第二关节杆铰接连接。
  2. 根据权利要求1所述的基于绳索驱动的二自由度大转角柔性机器人关节，其特征在于，
    所述转动连接件与所述第一铰接件铰接连接处为第一铰接部，所述第一铰接件与所述第一关节杆铰接连接处为第二铰接部，所述第一铰接部的轴线方向与所述第二铰接部的轴线方向相互垂直；
    所述转动连接件与所述第二铰接件铰接连接处为第三铰接部，所述第二铰接件与所述第二关节杆铰接处为第四铰接部，所述第三铰接部的轴线方向与所述第四铰接部的轴线方向相互垂直。
  3. 根据权利要求2所述的基于绳索驱动的二自由度大转角柔性机器人关节，其特征在于，
    所述第一铰接部与所述第二铰接部之间具有预设的偏距；
    所述第三铰接部与所述第四铰接部之间具有预设的偏距。
  4. 根据权利要求3所述的基于绳索驱动的二自由度大转角柔性机器人关节，其特征在于，所述第一铰接件上设有第一轴孔与第二轴孔，所述第一关节杆的端面设有第三轴孔，所述转动连接件朝向所述第一铰接件的一端设有第四轴孔，所述第一轴孔与所述第四轴孔通过第一转动销连接，所述第二轴孔与所述第四轴孔通过第二转动销连接。
  5. 根据权利要求4所述的基于绳索驱动的二自由度大转角柔性机器人关节，其特征在于，所述第一转动销、所述第二转动销的两端设置有扣环。
  6. 根据权利要求3所述的基于绳索驱动的二自由度大转角柔性机器人关节，其特征在于，所述第二铰接件上设有第五轴孔与第六轴孔，所述第二关节杆的端面设有第七轴孔，所述转动连接件朝向所述第二铰接件的一端设有第八轴孔，所述第五轴孔与所述第七轴孔通过第三转动销连接，所述第六轴孔与所述第八轴孔通过第四转动销连接。
  7. 根据权利要求6所述的基于绳索驱动的二自由度大转角柔性机器人关节，其特征在于，所述第三转动销与所述第四转动销的两端设置有扣环。
  8. 根据权利要求1至7中任一项所述的基于绳索驱动的二自由度大转角柔性机器人关节，其特征在于，所述第一关节杆与所述第二关节杆之间周向均匀布置有至少三处所述转动连接件、第一铰接件与第二铰接件。
  9. 根据权利要求8所述的基于绳索驱动的二自由度大转角柔性机器人关节，其特征在于，所述转动连接件呈螺旋形结构。
  10. 一种机器人，其特征在于，包括如权利要求1至9中任一项的基于绳索驱动的二自由度大转角柔性机器人关节。
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