WO2021026991A1 - Ultra-redundant linkage flexible mechanical arm based on closed-loop driving ropes - Google Patents

Ultra-redundant linkage flexible mechanical arm based on closed-loop driving ropes Download PDF

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WO2021026991A1
WO2021026991A1 PCT/CN2019/104915 CN2019104915W WO2021026991A1 WO 2021026991 A1 WO2021026991 A1 WO 2021026991A1 CN 2019104915 W CN2019104915 W CN 2019104915W WO 2021026991 A1 WO2021026991 A1 WO 2021026991A1
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rope
driving
arm
drive
closed
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PCT/CN2019/104915
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French (fr)
Chinese (zh)
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徐文福
黄健
刘天亮
梁斌
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哈尔滨工业大学(深圳)
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Priority to CN201910748747.8A priority Critical patent/CN110561401B/en
Priority to CN201910748747.8 priority
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 WO2021026991A1 publication Critical patent/WO2021026991A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065Snake robots
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Abstract

An ultra-redundant linkage flexible mechanical arm based on closed-loop driving ropes, comprising a mechanical arm set (1), a driving rope set (2), and a driving part (3). The driving part (3) pulls the driving rope set (2); the driving rope set (2) pulls the mechanical arm set (1) to enable the mechanical arm set to swing; the driving rope set (2) comprises a first driving rope (21) and a second driving rope (22); a head end (21a) of the first driving rope (21) and a head end (22a) of the second driving rope (22) are connected to the mechanical arm set (1), separately; a tail end (21b) of the first driving rope (21) is connected to the driving part (3); a tail end (22b) of the second driving rope (22) penetrates through a rope transfer part (4) to be connected to the driving part (3); the rope transfer part (4) enables a direction in which the second driving rope (22) pulls the mechanical arm set (1) to be opposite to a direction in which the first driving rope (21) pulls the mechanical arm set (1).

Description

基于闭环驱动绳索的超冗余联动柔性机械臂Super redundant linkage flexible manipulator based on closed-loop drive rope 技术领域Technical field
本发明涉及机器人技术领域,尤其涉及基于闭环驱动绳索的超冗余联动柔性机械臂。The invention relates to the technical field of robots, in particular to a super-redundant linkage flexible mechanical arm based on a closed-loop drive rope.
背景技术Background technique
工业级机器人已经广泛应用在电气、化工、机械等制造业领域,但是受限于其结构过大或刚性过高,传统的多关节部刚性工业机器人难以适应狭窄的工作环境,如管道清洁等。与传统的机械臂相比,超冗余机械臂由于其固有的超冗余度特性,可以实现多个连续部分的弯曲、伸缩、扭转,在狭窄空间中的运动和操作能力远胜于传统的多关节部刚性连接杆机器人。Industrial-grade robots have been widely used in electrical, chemical, mechanical and other manufacturing industries. However, due to their excessive structure or rigidity, traditional multi-joint rigid industrial robots are difficult to adapt to narrow working environments, such as pipe cleaning. Compared with traditional manipulators, hyper-redundant manipulators, due to their inherent super-redundancy characteristics, can realize the bending, expansion and twisting of multiple continuous parts, and their movement and operation capabilities in narrow spaces are far better than traditional ones. Multi-joint rigid connecting rod robot.
在超冗余机械臂当中,随着关节部的增多,其整臂冗余度也增多,相应的驱动元件的数目也增多,也导致了机械臂的控制难度,并且增加了机械臂的重量和成本。In the hyper-redundant manipulator, as the number of joints increases, the redundancy of the entire arm also increases, and the number of corresponding drive elements also increases, which also makes the control of the manipulator difficult, and increases the weight and weight of the manipulator. cost.
发明内容Summary of the invention
本发明为了一定程度上解决超冗余机械臂上的电机数目过多的技术问题,提出了一种基于闭环驱动绳索的超冗余联动柔性机械臂。In order to solve the technical problem of the excessive number of motors on the super redundant manipulator to a certain extent, the present invention proposes a super redundant linkage flexible manipulator based on a closed loop drive rope.
基于闭环驱动绳索的超冗余联动柔性机械臂,包括机械臂组、驱动绳索组和驱动部,所述驱动部牵引所述驱动绳索组,所述驱动绳索组拉动所述机械臂组并使其摆动;所述驱动绳索组包括第一驱动绳索和第二驱动绳索,所述第一驱动绳索的首端和所述第二驱动绳索的首端分别与所述机械臂组连接;所述第一驱动绳索的末端与所述驱动部连接,所述第二驱动绳索的末端穿过绳索中转部与所述驱动部连接;所述绳索中转部使所述第二驱动绳索牵引所述机械臂组的方向和所述第一驱动绳索牵引所述机械臂组的方向相反。The ultra-redundant linkage flexible manipulator arm based on the closed-loop drive rope includes a manipulator arm group, a drive rope group, and a drive part. The drive part pulls the drive rope group, and the drive rope group pulls and makes the manipulator arm group. Swing; the drive rope group includes a first drive rope and a second drive rope, the first end of the first drive rope and the head end of the second drive rope are respectively connected to the mechanical arm group; the first The end of the driving rope is connected to the driving part, and the end of the second driving rope is connected to the driving part through the rope intermediate part; the rope intermediate part causes the second driving rope to pull the robot arm group The direction is opposite to the direction in which the first driving rope pulls the mechanical arm group.
优选地,所述驱动部包括第一滑块和驱动所述第一滑块滑动的驱动电机;所述第一驱动绳索设置在所述第一滑块的前进方向上,所述第一驱动绳索的末端连接到所述第一滑块;所述绳索中转部设置在所述第一滑块的后退方向上,所述第二驱动绳索的末端穿过所述绳索中转部,连接到所述第一滑块。Preferably, the driving part includes a first sliding block and a driving motor that drives the first sliding block to slide; the first driving rope is arranged in the forward direction of the first sliding block, and the first driving rope The end of the rope is connected to the first slider; the rope intermediate part is arranged in the backward direction of the first slider, and the end of the second drive rope passes through the rope intermediate part and is connected to the first A slider.
进一步优选地,所述第一滑块上设置有第一滑轮和第二滑轮;所述第一驱动绳索的末端穿过所述第一滑轮被固定到所述第一滑块的前进方向上;所述第二驱动绳索的末端依次穿过所述绳索中转部和所述第二滑轮,被固定到所述第一滑块的后退方向上。Further preferably, the first sliding block is provided with a first pulley and a second pulley; the end of the first drive rope passes through the first pulley and is fixed to the forward direction of the first sliding block; The end of the second driving rope sequentially passes through the rope intermediate portion and the second pulley, and is fixed to the backward direction of the first sliding block.
优选地,一组所述机械臂组上,连接有两组所述驱动绳索组,两组所述驱动绳索组分别通过两个所述驱动部驱动;在所述机械臂组上,一组所述驱动绳索组的所述第一驱动绳 索和所述第二驱动绳索,分别设置在所述机械臂组的径向的两侧,另一组所述驱动绳索组的所述第一驱动绳索和所述第二驱动绳索,也分别设置在所述机械臂组的径向的两侧;两组所述驱动绳索组的所述第一驱动绳索和所述第二驱动绳索,沿所述机械臂组的周向,均匀分布。Preferably, one group of the robot arm group is connected with two groups of the driving rope groups, and the two groups of the driving rope groups are respectively driven by the two driving parts; on the robot arm group, one group is The first driving rope and the second driving rope of the driving rope group are respectively arranged on both sides in the radial direction of the robot arm group, and the first driving rope and the second driving rope of the driving rope group of the other group The second driving ropes are also respectively arranged on both sides of the robot arm group in the radial direction; the first driving ropes and the second driving ropes of the two driving rope groups are arranged along the robot arm The circumferential direction of the group is evenly distributed.
进一步优选地,所述机械臂组包括多组,相邻的所述机械臂组通过关节部铰接。Further preferably, the mechanical arm group includes a plurality of groups, and the adjacent mechanical arm groups are hinged by joints.
更进一步优选地,还包括箱体,所述驱动部包括多个,沿所述箱体的边缘部的周向分布,并安装到所述箱体上。More preferably, it further includes a box body, and the driving part includes a plurality of driving parts distributed along the circumferential direction of the edge of the box body and installed on the box body.
更进一步优选地,所述绳索中转部包括多处,沿所述箱体的中部的周向分布,并安装到所述箱体上,所述绳索中转部在所述箱体上的安装高度不同。More preferably, the rope transfer part includes a plurality of locations, which are distributed along the circumference of the middle part of the box body and are installed on the box body, and the installation heights of the rope transfer part on the box body are different .
优选地,还包括环形的中转座,所述中转座设置在所述箱体的中部,所述中转座上设置有多处高度分别不同的安装座,所述绳索中转部分别安装在所述安装座上。Preferably, it further includes a ring-shaped relay seat, the relay seat is arranged in the middle of the box body, the relay seat is provided with a plurality of mounting seats with different heights, and the rope relay parts are respectively installed in the installation Seated.
进一步优选地,每个所述绳索中转部分别包括两个第三滑轮,同一个所述绳索中转部的所述第三滑轮分别安装在同一个所述安装座上,安装后的两个所述第三滑轮的高度相同。Further preferably, each of the rope transfer parts includes two third pulleys, and the third pulleys of the same rope transfer part are respectively installed on the same mounting seat, and the two after installation The height of the third pulley is the same.
更进一步优选地,所述安装座分别在所述中转座的径向的两侧,设置有高度相同的两处安装面,不同的所述安装座的所述安装面的高度不同,所述第三滑轮分别安装在同一个所述安装座的所述安装面上,安装后的两个所述第三滑轮的高度相同。More preferably, the mounting seats are respectively provided with two mounting surfaces with the same height on both sides of the relay seat in the radial direction, and the heights of the mounting surfaces of different mounting seats are different, and the first The three pulleys are respectively installed on the mounting surface of the same mounting seat, and the height of the two third pulleys after installation is the same.
本发明的基于闭环驱动绳索的超冗余联动柔性机械臂,通过驱动部驱动绳索组,并且驱动绳索组中的第一驱动绳索和第二驱动绳索牵引机械臂组的方向相反,能够实现以一个驱动部去驱动机械臂组摆动,一定程度上减少基于闭环驱动绳索的超冗余联动柔性机械臂上的驱动部的数量。The ultra-redundant linkage flexible manipulator based on the closed-loop drive rope of the present invention drives the rope group through the drive part, and the first drive rope and the second drive rope in the drive rope group pull the manipulator arm group in opposite directions, which can achieve The driving part drives the manipulator arm group to swing, which reduces the number of driving parts on the super redundant linkage flexible manipulator arm based on the closed-loop driving rope to a certain extent.
附图说明Description of the drawings
图1是基于闭环驱动绳索的超冗余联动柔性机械臂的一种实施例的示意图;Fig. 1 is a schematic diagram of an embodiment of an ultra-redundant linkage flexible manipulator based on a closed-loop drive rope;
图2是图1A处的局部放大图;Figure 2 is a partial enlarged view of Figure 1A;
图3是关节部的爆炸图;Figure 3 is an exploded view of the joint;
图4是机械臂组的一种实施例的示意图;Fig. 4 is a schematic diagram of an embodiment of a robotic arm group;
图5是驱动部和驱动绳索组的一种实施例的示意图;FIG. 5 is a schematic diagram of an embodiment of the driving part and the driving rope set;
图6是驱动部和驱动绳索组的另一种实施例的示意图;Figure 6 is a schematic diagram of another embodiment of the driving part and the driving rope set;
图7是图6B处的局部放大图;Figure 7 is a partial enlarged view of Figure 6B;
图8是中转座的一种实施例的示意图。Fig. 8 is a schematic diagram of an embodiment of a relay seat.
具体实施方式detailed description
以下参照附图,对本发明作详细说明。需要指出的是,本发明可以以许多不同的方式实现,并不限于本文所描述的实施例,相反地,提供这些实施例目的是为了使本领域的技术人员对本发明所公开的内容理解更加透彻全面。Hereinafter, the present invention will be described in detail with reference to the drawings. It should be pointed out that the present invention can be implemented in many different ways, and is not limited to the embodiments described herein. On the contrary, these embodiments are provided for the purpose of making those skilled in the art have a more thorough understanding of the content disclosed by the present invention. comprehensive.
另外,根据本发明的原理对说明性的实施例所进行的描述旨在要结合附图来进行阅读,其将被视作整个书面说明书的一部分。在公开的本发明的实施例的描述中,任何方向或方位的引用仅仅旨在便于说明,而并非旨在以任何方式限制本发明的范围。相关术语如“正面”、“背面”、“上侧部”、“下侧部”、“后侧部”、“外侧”、“内侧”、“中部”、“内部”、“外部”、“下部的”、“上部的”、“水平的”、“垂直的”、“上方”、“下方”、“向上”、“向下”、“顶部”和“底部”)及其派生词(例如,“水平地”、“向下地”、“向上地”等)应当被解释为下文所述的或在讨论中的附图所示的方位。这些相关术语仅为方便说明之用,而不能要求设备按照特定方位进行构造或操作,除非有明确说明。因此,本发明不应被确切地限制于对可单独存在或在其它特征组合中存在的特征的一些可能的非限制性组合进行说明的示例性实施例;本发明的保护范围由所附权利要求界定。In addition, the description of the illustrative embodiments according to the principles of the present invention is intended to be read in conjunction with the accompanying drawings, which will be regarded as a part of the entire written specification. In the description of the disclosed embodiments of the present invention, the quotation of any direction or orientation is only intended to facilitate the description, and is not intended to limit the scope of the present invention in any way. Related terms such as "front", "back", "upper side", "lower side", "rear side", "outer side", "inside", "middle", "inner", "outer", " "Lower", "upper", "horizontal", "vertical", "above", "below", "up", "down", "top" and "bottom") and their derivatives (e.g. , "Horizontally", "downwardly", "upwardly", etc.) shall be interpreted as the orientations described below or shown in the drawings in the discussion. These related terms are only for convenience of description, and cannot require the equipment to be constructed or operated in a specific orientation, unless explicitly stated. Therefore, the present invention should not be exactly limited to exemplary embodiments that illustrate some possible non-limiting combinations of features that may exist alone or in other combinations of features; the protection scope of the present invention is defined by the appended claims Define.
正如当前设想,本次公开描述了本发明的最优模式或实践模式。本发明并非旨在从限制层面上进行理解,而是通过结合附图提供仅供说明使用的发明示例,以告知本领域的普通技术人员本发明的优点和构造。在附图的各种视图中,相同的附图标记指代相同或相似的部件。As currently imagined, this disclosure describes the best mode or practice mode of the present invention. The present invention is not intended to be understood on a restrictive level, but to provide examples of the invention for illustrative purposes only in conjunction with the accompanying drawings to inform those of ordinary skill in the art of the advantages and configuration of the present invention. In the various views of the drawings, the same reference numerals refer to the same or similar components.
图1是基于闭环驱动绳索的超冗余联动柔性机械臂的一种实施例的示意图,图2是图1A处的局部放大图,图3是关节部5的爆炸图。参照图1、图2、图3,基于闭环驱动绳索的超冗余联动柔性机械臂,包括机械臂组1、驱动绳索组2和驱动部3,驱动部3驱动绳索组2,驱动绳索组2牵引机械臂组1摆动。机械臂组1可以包括多组,相邻的机械臂组1通过关节部5串联。每个机械臂组1当中,可以包括若干臂杆11和若干关节部5,相邻的臂杆11通过关节部5铰接串联,并通过联动绳索12拉动,形成一个整体的机械臂组1。FIG. 1 is a schematic diagram of an embodiment of a hyper-redundant linkage flexible manipulator based on a closed-loop drive rope, FIG. 2 is a partial enlarged view of FIG. 1A, and FIG. 3 is an exploded view of the joint 5. Referring to Figures 1, 2, and 3, a super-redundant linked flexible manipulator based on a closed-loop drive rope includes a manipulator arm group 1, a drive rope group 2 and a drive part 3. The drive part 3 drives the rope group 2 and the drive rope group 2 Traction robotic arm group 1 swings. The robotic arm group 1 may include multiple groups, and the adjacent robotic arm groups 1 are connected in series through the joints 5. Each robot arm group 1 may include several arm rods 11 and several joint parts 5. The adjacent arm rods 11 are articulated in series through the joint parts 5 and pulled by the linkage rope 12 to form an integral robot arm group 1.
在以下说明中,将位于一个关节部5的上面的臂杆称为上臂杆111,位于该关节部5的下面的臂杆称为下臂杆112。关节部5包括三个连杆件51,连杆件51包括上连接部511和下连接部512,上连接部511和上臂杆111的下端面111a可以通过万向节52a铰接,下连接部512和下臂杆112的上端面112a也可以通过万向节52b铰接。需要说明的是,万向节即可以是公知的万向节,也可以由一个具有相互垂直的两个铰接孔的连接块,分别和连杆件51和臂杆12相互铰接,形成万向节结构。由此,使上臂杆111和下臂杆112,可以分别绕关节部5的转动轴心,朝各个方向摆动。In the following description, the arm located on the upper surface of one joint 5 is referred to as the upper arm 111, and the arm located under the joint 5 is referred to as the lower arm 112. The joint part 5 includes three link members 51. The link member 51 includes an upper connecting part 511 and a lower connecting part 512. The upper connecting part 511 and the lower end surface 111a of the upper arm rod 111 can be hinged by a universal joint 52a, and the lower connecting part 512 The upper end surface 112a of the lower arm 112 can also be hinged with the universal joint 52b. It should be noted that the universal joint can be a well-known universal joint, or a connecting block with two hinged holes perpendicular to each other, which are hinged to the connecting rod 51 and the arm 12 to form a universal joint. structure. As a result, the upper arm 111 and the lower arm 112 can respectively swing around the rotation axis of the joint part 5 in various directions.
三个连杆件51的上连接部511在上臂杆111的下端面111a上,绕上臂杆111的轴向的轴心,呈120度均匀分布地与上臂杆111铰接。三个连杆件51的下连接部512在下臂杆 112的上端面112a上,绕下臂杆112的轴向的轴心,呈120度均匀分布地与下臂杆112铰接。单个连杆件51的上连接部511和上臂杆111铰接的位置,相对于下连接部512和下臂杆112铰接的位置,沿臂杆11(111、112)的周向有错位,例如错位180度,也就是说,当上臂杆111和下臂杆112处于同轴的位置时,假设其中一个连杆件51的下连接部512与下臂杆112的铰接位置为0度,则该连杆件51的上连接部511与上臂杆111的铰接位置,相对于下连接部512与下臂杆112的铰接位置,绕臂杆11的轴心旋转了180度。The upper connecting portion 511 of the three connecting rod members 51 is on the lower end surface 111a of the upper arm rod 111, and is hinged with the upper arm rod 111 evenly distributed at 120 degrees around the axis of the upper arm rod 111. The lower connecting portions 512 of the three link members 51 are on the upper end surface 112a of the lower arm 112, and are hinged with the lower arm 112 evenly distributed at 120 degrees around the axis of the lower arm 112. The hinged position of the upper connecting portion 511 and the upper arm rod 111 of a single link member 51 is misaligned, such as misaligned, along the circumferential direction of the arm rod 11 (111, 112) relative to the hinged position of the lower connecting portion 512 and the lower arm rod 112 180 degrees, that is, when the upper arm 111 and the lower arm 112 are in a coaxial position, assuming that the hinge position of the lower connecting portion 512 of one of the link members 51 and the lower arm 112 is 0 degrees, the connecting The hinge position of the upper connecting portion 511 of the rod 51 and the upper arm rod 111 is rotated 180 degrees around the axis of the arm rod 11 relative to the hinge position of the lower connecting portion 512 and the lower arm rod 112.
图4是机械臂组1的一种实施例的示意图,参照图4,机械臂组1中的各臂杆11,分别通过三根联动绳索12a、12b、12c串联起来,三根联动绳索12a、12b、12c的一端分别连接到该机械臂组1中最上面的臂杆11上,联动绳索12a、12b、12c的另一端从上往下,依次穿过各关节部5和各臂杆11,并连接到该机械臂组1中最下面的臂杆11上。Fig. 4 is a schematic diagram of an embodiment of the robot arm group 1. Referring to Fig. 4, each arm 11 in the robot arm group 1 is connected in series by three linkage ropes 12a, 12b, 12c, and three linkage ropes 12a, 12b, One end of 12c is respectively connected to the uppermost arm 11 in the robot arm group 1, and the other ends of the linkage ropes 12a, 12b, 12c pass through each joint 5 and each arm 11 from top to bottom, and are connected To the lowermost arm 11 in the robotic arm group 1.
优选地,当一组机械臂组1中的臂杆11数量较多时,三根联动绳索12a、12b、12c的另一端也可以连接到机械臂组1的中部的某个臂杆11b的上端面上,然后从臂杆11b的上一个臂杆11a的下端面开始,通过另一组联动绳索12d、12e、2f连接到机械臂组1中最下面的臂杆11上。三根联动绳索12也分别呈120度分布,在穿过各臂杆11时,可以通过三根螺旋状的导管13a、13b、13c分别对三根联动绳索12的方向进行限定和导向。同样地,三根联动绳索12a、12b、12c在机械臂组1中上面的臂杆11的连接位置,也可以相对于其在机械臂组1中下面的臂杆11的连接位置,在周向有错位,例如错位180度。由此,各联动绳索12的总长度不变,当其中一个关节部5转动时,该关节部5的联动绳索12发生变化,同一机械臂组1当中的其他的关节部5的联动绳索12也发生相应的变化。由于三个连杆件51分别错位180度,关节部5处互成180度的联动绳索12的变化量也相同,使得各关节部5的联动绳索12的变化量相等,以实现联动作用和大角度转动。Preferably, when the number of arm rods 11 in a group of robot arm group 1 is large, the other end of the three linkage ropes 12a, 12b, 12c can also be connected to the upper end surface of a certain arm rod 11b in the middle of the robot arm group 1. Then, starting from the lower end surface of the upper arm 11a of the arm 11b, it is connected to the lowermost arm 11 in the robot arm group 1 through another set of linkage ropes 12d, 12e, 2f. The three interlocking ropes 12 are also distributed at 120 degrees respectively. When passing through each arm 11, the directions of the three interlocking ropes 12 can be limited and guided by three spiral guides 13a, 13b, and 13c. Similarly, the connection position of the three linkage ropes 12a, 12b, 12c on the upper arm 11 in the robot arm group 1 can also be relative to the connection position of the lower arm 11 in the robot arm group 1, in the circumferential direction. Misalignment, such as 180 degrees. Thus, the total length of each interlocking rope 12 remains unchanged. When one of the joint parts 5 rotates, the interlocking rope 12 of the joint part 5 changes, and the interlocking ropes 12 of the other joint parts 5 in the same robot arm group 1 also A corresponding change occurs. Since the three link members 51 are respectively misaligned by 180 degrees, the amount of change of the interlocking ropes 12 at the joints 5 that are 180 degrees with each other is also the same, so that the amount of change of the interlocking ropes 12 of each joint 5 is equal, so as to achieve the linkage effect and large Angle rotation.
如上所述,驱动部3驱动绳索组2,驱动绳索组2牵引机械臂组1摆动。驱动绳索组2包括第一驱动绳索21和第二驱动绳索22,第一驱动绳索21的首端21a与机械臂组1连接,第二驱动绳索22的首端22a也与机械臂组1连接。第一驱动绳索21的末端21b与驱动部3连接,第二驱动绳索22的末端22b穿过绳索中转部4与驱动部3连接,绳索中转部4使第二驱动绳索22牵引机械臂组1的方向和第一驱动绳索21牵引机械臂组1的方向相反。由此,驱动部3、第一驱动绳索21、机械臂组1、第二驱动绳索22和绳索中转部4之间,形成一个闭环的驱动路线,当驱动部3驱动第一驱动绳索21拉着机械臂组1时,机械臂组1的摆动同时主动拉着第二驱动绳索22,当驱动部3驱动第二驱动绳索22拉着机械臂组1时,机械臂组1的摆动同时主动拉着第一驱动绳索21。通过这样,能够实现通过一个驱动部3同时驱动两根驱动绳索21、22,从而使机械臂组1稳定地摆动。As described above, the driving part 3 drives the rope group 2, and the driving rope group 2 pulls the robot arm group 1 to swing. The driving rope group 2 includes a first driving rope 21 and a second driving rope 22. The head end 21a of the first driving rope 21 is connected to the robot arm group 1, and the head end 22a of the second driving rope 22 is also connected to the robot arm group 1. The end 21b of the first driving rope 21 is connected to the driving part 3, and the end 22b of the second driving rope 22 passes through the rope intermediate part 4 and is connected to the driving part 3. The rope intermediate part 4 enables the second driving rope 22 to pull the arm group 1 The direction is opposite to the direction in which the first drive rope 21 pulls the manipulator arm group 1. Thus, a closed-loop drive path is formed between the driving part 3, the first driving rope 21, the manipulator group 1, the second driving rope 22, and the rope intermediate part 4. When the driving part 3 drives the first driving rope 21 to pull When the robot arm group 1, the swing of the robot arm group 1 actively pulls the second drive rope 22 at the same time. When the driving part 3 drives the second driving rope 22 to pull the robot arm group 1, the swing of the robot arm group 1 actively pulls at the same time The first drive rope 21. In this way, it is possible to simultaneously drive the two driving ropes 21 and 22 by one driving part 3, so that the robot arm group 1 can swing stably.
图5是驱动部3和驱动绳索组2的一种实施例的示意图。参照图5,优选地,驱动部3包括第一滑块31、驱动第一滑块31滑动的驱动电机32和传动机构33。驱动电机32通 过驱动传动机构33,使第一滑块31滑动。为了便于驱动部3的安装,还可以设置箱体6,箱体6包括从上至下,分别设置的上箱板61、中箱板62和下箱板63。驱动电机32安装在下箱板63上,传动机构33包括丝杆传动组件331和线性滑轨332,第一滑块31安装在线性滑轨332上并与丝杆传动组件331的丝杆螺母连接331a。丝杆传动组件331的两端,分别通过轴承座333、334支撑到上箱板61和中箱板62上。同样地,线性滑轨332的两端,也分别固定到上箱板61和中箱板62上,驱动电机32和丝杆传动组件331通过联轴器联接。FIG. 5 is a schematic diagram of an embodiment of the driving part 3 and the driving rope group 2. 5, preferably, the driving part 3 includes a first sliding block 31, a driving motor 32 that drives the first sliding block 31 to slide, and a transmission mechanism 33. The driving motor 32 drives the transmission mechanism 33 to make the first slider 31 slide. In order to facilitate the installation of the driving part 3, a box body 6 can also be provided. The box body 6 includes an upper box plate 61, a middle box plate 62 and a lower box plate 63 respectively arranged from top to bottom. The driving motor 32 is installed on the lower box plate 63. The transmission mechanism 33 includes a screw drive assembly 331 and a linear slide 332. The first sliding block 31 is mounted on the linear slide 332 and is connected to the screw nut 331a of the screw drive assembly 331. . The two ends of the screw drive assembly 331 are respectively supported on the upper box plate 61 and the middle box plate 62 through the bearing seats 333 and 334. Similarly, the two ends of the linear slide rail 332 are also fixed to the upper box plate 61 and the middle box plate 62, respectively, and the driving motor 32 and the screw drive assembly 331 are connected by a coupling.
为了便于下面的说明,在此,将驱动电机32驱动第一滑块31靠近机械臂组1的方向,称为第一滑块31的前进方向,将驱动电机32驱动第一滑块31远离机械臂组1的方向,称为第一滑块31的后退方向。For the convenience of the following description, here, the direction in which the drive motor 32 drives the first slider 31 close to the robot arm group 1 is called the forward direction of the first slider 31, and the drive motor 32 drives the first slider 31 away from the machine. The direction of the arm group 1 is referred to as the backward direction of the first slider 31.
第一驱动绳索21设置在第一滑块31的前进方向上,第一驱动绳索21的首端21a连接到机械臂组1上,第一驱动绳索21的末端21b连接到第一滑块31上,第一驱动绳索21的末端21b可以直接固定到第一滑块31上。以使第一驱动绳索21整体均在第一滑块31的前进方向上,当驱动电机32驱动第一滑块31后退时,第一驱动绳索21拉动机械臂组1,绕关节部5摆动。The first driving rope 21 is arranged in the forward direction of the first sliding block 31, the first end 21a of the first driving rope 21 is connected to the robot arm group 1, and the end 21b of the first driving rope 21 is connected to the first sliding block 31 , The end 21b of the first driving rope 21 can be directly fixed to the first sliding block 31. In order to ensure that the entire first drive rope 21 is in the forward direction of the first slider 31, when the drive motor 32 drives the first slider 31 to retreat, the first drive rope 21 pulls the manipulator arm group 1 to swing around the joint 5.
绳索中转部4设置在第一滑块31的后退方向上,绳索中转部4可以安装到箱体6上,虽然第一滑块31能够后退的行程可能很大,但是,绳索中转部4设置在第一滑块31能够后退的行程之外,以确保第二驱动绳索22不会从绳索中转部4中脱落。绳索中转部4可以安装到中箱板62上或者下箱板63上,例如,中箱板62上可以安装有中转座7,绳索中转部4包括至少一个滑轮(为了便于区分,也称第三滑轮41),第三滑轮41轴支撑到中转座7上,第二驱动绳索22的首端21a也连接到机械臂组1上,第二驱动绳索22的末端22b穿过绳索中转部4,连接到第一滑块31。即第二驱动绳索22经由第三滑轮41的导向,从第一滑块31的后退方向,连接到第一滑块31上。另外,第一驱动绳索21的首端21a和第二驱动绳索22的首端22a,分别设置在机械臂组1的径向的两侧,以关节部5的转动轴心ZX为基准对称。由此,当第一滑块31前进时,第二驱动绳索22被第一滑块31拉动,进而拉动机械臂组1摆动(如在附图中,朝右侧摆动),与此同时,机械臂组1和第一驱动绳索21之间也相互处于拉紧的状态,因此,能够使机械臂组1稳定地摆动。同样地,当第一滑块31后退时,第一驱动绳索21被第一滑块31拉动,进而拉动机械臂组1摆动(如在附图中,相对于右侧,朝左侧摆动),与此同时,机械臂组1和第二驱动绳索22之间也相互处于拉近的状态,因此,能够使机械臂组1稳定地摆动。不仅如此,由于第一驱动绳索21和第二驱动绳索22由同一个驱动电机32驱动,因此,能够确保两根驱动绳索21、22的伸缩长度、速度均一致,无需从控制上做任何的补偿。The rope intermediate part 4 is arranged in the retreat direction of the first slider 31, and the rope intermediate part 4 can be installed on the box 6. Although the retreat stroke of the first slider 31 may be large, the rope intermediate part 4 is arranged in The first sliding block 31 is beyond the retreat stroke to ensure that the second driving rope 22 will not fall off from the rope intermediate part 4. The rope transfer part 4 can be installed on the middle box plate 62 or the lower box plate 63. For example, the middle box plate 62 may be equipped with a relay seat 7, and the rope transfer part 4 includes at least one pulley (for easy distinction, also called the third Pulley 41), the third pulley 41 is axially supported on the relay seat 7, the head 21a of the second drive rope 22 is also connected to the robot arm group 1, and the end 22b of the second drive rope 22 passes through the rope relay 4 and is connected To the first slider 31. That is, the second drive rope 22 is connected to the first slider 31 from the backward direction of the first slider 31 via the guidance of the third pulley 41. In addition, the head end 21a of the first drive rope 21 and the head end 22a of the second drive rope 22 are respectively arranged on both sides in the radial direction of the robot arm group 1 and are symmetrical with respect to the rotation axis ZX of the joint part 5. Thus, when the first sliding block 31 advances, the second driving rope 22 is pulled by the first sliding block 31, thereby pulling the manipulator arm group 1 to swing (as in the figure, swinging to the right), and at the same time, the mechanical The arm group 1 and the first drive rope 21 are also in a tightened state with each other, and therefore, the robot arm group 1 can be stably swung. Similarly, when the first sliding block 31 retreats, the first driving rope 21 is pulled by the first sliding block 31, which in turn pulls the manipulator arm group 1 to swing (as in the figure, it swings to the left relative to the right), At the same time, the robot arm group 1 and the second drive rope 22 are also in a state of being drawn close to each other, and therefore, the robot arm group 1 can be stably swung. Not only that, because the first driving rope 21 and the second driving rope 22 are driven by the same driving motor 32, it can ensure that the expansion and contraction lengths and speeds of the two driving ropes 21 and 22 are the same, without any control compensation. .
图6是驱动部3和驱动绳索组2的另一种实施例的示意图,图7是图6B处的局部放 大图。参照图6、图7,为了缩短驱动部3的驱动行程,进而使箱体6的结构更加紧凑,减轻整个机械臂的重量。第一滑块31上设置有两个滑轮(为便于区分,也称第一滑轮311和第二滑轮312)。其中,第一驱动绳索21的末端21b穿过第一滑轮311被固定到第一滑块31的前进方向上,例如,固定到上箱板61上。第二驱动绳索22的末端22b依次穿过绳索中转部4和第二滑轮312,被固定到第一滑块31的后退方向上,例如固定到中箱板62上。由此,当第一滑块31滑动时,第一驱动绳索21和第二驱动绳索22分别以两倍于第一滑块31的滑动行程伸缩,因此,能够在不改变机械臂组1的摆动角度的情况下,将驱动部3的驱动行程缩短一倍,从而使装有驱动部3的箱体6的结构更加紧凑。Fig. 6 is a schematic diagram of another embodiment of the driving part 3 and the driving rope set 2, and Fig. 7 is a partial enlarged view of Fig. 6B. 6 and 7, in order to shorten the driving stroke of the driving part 3, thereby making the structure of the box 6 more compact, and reducing the weight of the entire robot arm. Two pulleys (also called the first pulley 311 and the second pulley 312 for easy distinction) are provided on the first sliding block 31. Wherein, the end 21b of the first driving rope 21 passes through the first pulley 311 and is fixed to the advancing direction of the first slider 31, for example, to the upper box plate 61. The end 22b of the second driving rope 22 passes through the rope intermediate part 4 and the second pulley 312 in sequence, and is fixed to the backward direction of the first sliding block 31, for example, to the middle box plate 62. Thus, when the first slider 31 slides, the first drive rope 21 and the second drive rope 22 respectively expand and contract with twice the sliding stroke of the first slider 31. Therefore, the swing of the robot arm group 1 can be unchanged. In the case of an angle, the driving stroke of the driving part 3 is doubled, so that the structure of the box 6 equipped with the driving part 3 is more compact.
为了进一步缩减机械臂组1的驱动部3的数量,同时使机械臂组1的摆动具有更多的自由度,优选地,一组机械臂组1上,可以连接有两组驱动绳索组2、2a,两组驱动绳索组2、2a分别通过两个驱动部3驱动。在机械臂组1上,一组驱动绳索组2的第一驱动绳索21和第二驱动绳索22,分别设置在机械臂组1的径向的两侧,另一组驱动绳索组2a的第一驱动绳索21a和第二驱动绳索22a,也分别设置在机械臂组1的径向的两侧,并且两组驱动绳索组2、2a的第一驱动绳索21、21a和第二驱动绳索22、22a,沿机械臂组1的周向,均匀分布。也就是说,同一个机械臂组1与四根驱动绳索21、21a、22、22a连接,四根驱动绳索21、21a、22、22a以关节部5的转动轴心的为中心,以90度的角度间隔沿机械臂组1的周向分布。由此,能够实现通过两个驱动电机32分别驱动两个第一滑块31的前进和后退的不同组合,能够实现机械臂组1的各个角度的摆动。In order to further reduce the number of driving parts 3 of the robot arm group 1, and at the same time to make the swing of the robot arm group 1 have more degrees of freedom, preferably, one group of the robot arm group 1 can be connected with two groups of driving rope groups 2 2a, the two driving rope groups 2 and 2a are driven by two driving parts 3 respectively. On the robot arm group 1, the first driving rope 21 and the second driving rope 22 of the driving rope group 2 are respectively arranged on both sides of the radial direction of the robot arm group 1, and the first driving rope group 2a of the other group is The driving rope 21a and the second driving rope 22a are also respectively arranged on both sides in the radial direction of the manipulator arm group 1, and the first driving rope 21, 21a and the second driving rope 22, 22a of the two driving rope groups 2, 2a , Evenly distributed along the circumferential direction of the robotic arm group 1. That is to say, the same manipulator arm group 1 is connected to four driving ropes 21, 21a, 22, 22a, and the four driving ropes 21, 21a, 22, 22a are centered on the rotation axis of the joint 5 and set at 90 degrees. The angular intervals are distributed along the circumferential direction of the robot arm group 1. In this way, different combinations of forward and backward of the two first sliders 31 can be driven by the two drive motors 32 respectively, and the swing of the robot arm group 1 can be realized at various angles.
图8是中转座7的一种实施例的示意图,参照图8并继续参照图1,如上所述,机械臂组1可以包括多段,分别通过关节部5铰接,当机械臂组1包括多段时,驱动部3也可以包括与机械臂组1的数量对应的多个。优选地,箱体6可以呈圆筒状,驱动部3沿箱体6的径向的边缘部6a的周向,安装到箱体6上。Fig. 8 is a schematic diagram of an embodiment of the relay seat 7, referring to Fig. 8 and continuing to refer to Fig. 1. As described above, the manipulator arm group 1 may include multiple sections, which are respectively hinged by the joints 5. When the manipulator arm group 1 includes multiple sections The driving unit 3 may also include a plurality of corresponding to the number of the robot arm groups 1. Preferably, the box body 6 may be cylindrical, and the driving part 3 is installed on the box body 6 along the circumferential direction of the radial edge portion 6 a of the box body 6.
进一步优选地,绳索中转部4也可以包括与驱动部3的数量对应的多处,沿箱体6的径向的中部6b的周向,安装到箱体6上。优选地,用于安装绳索中转部4的第三滑轮41的中转座7可以呈环形状,中转座7设置在箱体6的中部,例如安装在中箱板62的中部。由于第一驱动绳索21和第二驱动绳索22,分别设置在机械臂组1的径向的两侧,相互对称,当第二驱动绳索22的末端22b和驱动部3连接时,需要从箱体6的径向的一侧绕过箱体6,才能与位于箱体6的径向的另外一侧的驱动部3连接。当驱动绳索组2包括多组时,不同的第二驱动绳索22容易产生干涉,因此,为了解决该问题,可以在箱体6上设置有安装高度不同的安装座71,并将绳索中转部4安装到不同的安装座71上,以使绳索中转部4的安装高度不同,避免各第二驱动绳索22之间产生干涉。进一步优选地,每个绳索中转部4分别包括两个第三滑轮41a、41b,第三滑轮41a、41b分别安装在同一个安装座71上,安装后的两个第三滑轮41的高度相同。更进一步优选地,安装座71分别在 中转座7的径向的两侧,设置有高度相同的两处安装面711a、711b,并且,不同的安装座71的安装面711的高度不同,第三滑轮41a、41b分别安装在同一个安装座71(即高度相同)的安装面711a、711b上,安装后的两个第三滑轮41a、41b的高度相同。通过设置两个第三滑轮41a、41b,能够将第二驱动绳索22从沿箱体6的轴向延伸转换为沿箱体6的径向延伸,并到达第一滑块31上。Further preferably, the rope intermediate portion 4 may also include multiple locations corresponding to the number of the driving portions 3, and are mounted on the box body 6 along the circumferential direction of the middle portion 6b in the radial direction of the box body 6. Preferably, the relay seat 7 for installing the third pulley 41 of the rope relay portion 4 may be in a ring shape, and the relay seat 7 is arranged in the middle of the box body 6, for example, installed in the middle of the middle box plate 62. Since the first driving rope 21 and the second driving rope 22 are respectively arranged on both sides in the radial direction of the robot arm group 1 and are symmetrical to each other, when the end 22b of the second driving rope 22 is connected to the driving part 3, it needs to be removed from the box body One side in the radial direction of 6 bypasses the box 6 to be connected to the driving part 3 on the other side of the box 6 in the radial direction. When the driving rope group 2 includes multiple groups, different second driving ropes 22 are likely to interfere. Therefore, in order to solve this problem, mounting seats 71 with different installation heights can be provided on the box 6 and the rope transfer part 4 It is installed on different mounting seats 71 so that the installation height of the rope intermediate part 4 is different, and the interference between the second driving ropes 22 is avoided. Further preferably, each rope transfer part 4 includes two third pulleys 41a and 41b respectively. The third pulleys 41a and 41b are respectively installed on the same mounting seat 71, and the heights of the two third pulleys 41 after installation are the same. More preferably, the mounting seats 71 are respectively provided with two mounting surfaces 711a and 711b of the same height on both sides of the radial direction of the relay seat 7, and the mounting surfaces 711 of different mounting seats 71 have different heights, and the third The pulleys 41a, 41b are respectively mounted on the mounting surfaces 711a, 711b of the same mounting seat 71 (that is, the same height), and the heights of the two third pulleys 41a, 41b after installation are the same. By providing two third pulleys 41a, 41b, the second drive rope 22 can be converted from extending in the axial direction of the box body 6 to extending in the radial direction of the box body 6 and reach the first slider 31.
另外,中转座7的上方,还可以设置有导向座8,导向座8上设置有多个分别容许各不同的第二驱动绳索22穿过的导向孔81,并且,导向座8可以锁紧到中转座7上,将各第三滑轮41的支撑轴42固定。当导向座8和中转座7相互锁紧时,导向座8上的各导向孔81,分别位于中转座7的各第三滑轮41的上方。In addition, a guide seat 8 may be provided above the transfer seat 7, and a plurality of guide holes 81 that allow different second driving ropes 22 to pass through are provided on the guide seat 8, and the guide seat 8 can be locked to The support shaft 42 of each third pulley 41 is fixed on the relay seat 7. When the guide seat 8 and the relay seat 7 are locked to each other, the guide holes 81 on the guide seat 8 are respectively located above the third pulleys 41 of the relay seat 7.
在上述具体实施方式中所描述的各个具体的技术特征,在不矛盾的情况下,可以通过任何方式进行组合,为了不必要的重复,本发明对各种可能的组合方式不另行说明。The various specific technical features described in the foregoing specific embodiments may be combined in any manner without contradiction. For unnecessary repetition, various possible combinations are not described separately in the present invention.
以上实施例仅用于说明本发明的技术方案而并非对其进行限制,凡未脱离本发明范围的任何修改或者等同替换,均应当涵括在本发明的技术方案内。The above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it. Any modification or equivalent replacement that does not deviate from the scope of the present invention should be included in the technical solution of the present invention.

Claims (10)

  1. 基于闭环驱动绳索的超冗余联动柔性机械臂,其特征在于,包括The ultra-redundant linkage flexible manipulator based on the closed-loop drive rope is characterized in that it includes
    机械臂组、驱动绳索组和驱动部,所述驱动部牵引所述驱动绳索组,所述驱动绳索组拉动所述机械臂组并使其摆动;A robotic arm group, a driving rope group, and a driving part, the driving part pulling the driving rope group, and the driving rope group pulling and swinging the robot arm group;
    所述驱动绳索组包括第一驱动绳索和第二驱动绳索,所述第一驱动绳索的首端和所述第二驱动绳索的首端分别与所述机械臂组连接;The driving rope group includes a first driving rope and a second driving rope, and the head ends of the first driving rope and the second driving rope are respectively connected to the mechanical arm group;
    所述第一驱动绳索的末端与所述驱动部连接,所述第二驱动绳索的末端穿过绳索中转部与所述驱动部连接;The end of the first drive rope is connected to the drive part, and the end of the second drive rope passes through the rope intermediate part to be connected to the drive part;
    所述绳索中转部使所述第二驱动绳索牵引所述机械臂组的方向和所述第一驱动绳索牵引所述机械臂组的方向相反。The rope intermediate portion makes the direction in which the second drive rope pulls the robot arm group opposite to the direction in which the first drive rope pulls the robot arm group.
  2. 根据权利要求1所述的基于闭环驱动绳索的超冗余联动柔性机械臂,其特征在于,所述驱动部包括第一滑块和驱动所述第一滑块滑动的驱动电机;The ultra-redundant linked flexible mechanical arm based on a closed-loop drive rope according to claim 1, wherein the driving part comprises a first sliding block and a driving motor that drives the first sliding block to slide;
    所述第一驱动绳索设置在所述第一滑块的前进方向上,所述第一驱动绳索的末端连接到所述第一滑块;The first driving rope is arranged in the forward direction of the first sliding block, and the end of the first driving rope is connected to the first sliding block;
    所述绳索中转部设置在所述第一滑块的后退方向上,所述第二驱动绳索的末端穿过所述绳索中转部,连接到所述第一滑块。The rope intermediate part is arranged in the retreat direction of the first sliding block, and the end of the second drive rope passes through the rope intermediate part and is connected to the first sliding block.
  3. 根据权利要求2所述的基于闭环驱动绳索的超冗余联动柔性机械臂,其特征在于,所述第一滑块上设置有第一滑轮和第二滑轮;The ultra-redundant linkage flexible mechanical arm based on a closed-loop drive rope according to claim 2, wherein the first sliding block is provided with a first pulley and a second pulley;
    所述第一驱动绳索的末端穿过所述第一滑轮被固定到所述第一滑块的前进方向上;The end of the first drive rope passes through the first pulley and is fixed to the forward direction of the first sliding block;
    所述第二驱动绳索的末端依次穿过所述绳索中转部和所述第二滑轮,被固定到所述第一滑块的后退方向上。The end of the second driving rope sequentially passes through the rope intermediate portion and the second pulley, and is fixed to the backward direction of the first sliding block.
  4. 根据权利要求1至3任一项所述的基于闭环驱动绳索的超冗余联动柔性机械臂,其特征在于,一组所述机械臂组上,连接有两组所述驱动绳索组,两组所述驱动绳索组分别通过两个所述驱动部驱动;The super-redundant linkage flexible manipulator based on a closed-loop drive rope according to any one of claims 1 to 3, wherein two sets of the drive rope sets are connected to one set of the manipulator arm group, two sets The driving rope group is respectively driven by two driving parts;
    在所述机械臂组上,一组所述驱动绳索组的所述第一驱动绳索和所述第二驱动绳索,分别设置在所述机械臂组的径向的两侧,另一组所述驱动绳索组的所述第一驱动绳索和所述第二驱动绳索,也分别设置在所述机械臂组的径向的两侧;On the robot arm group, the first driving rope and the second driving rope of one group of the driving rope group are respectively arranged on both sides in the radial direction of the robot arm group, and the other group The first driving rope and the second driving rope of the driving rope group are also respectively arranged on both sides in the radial direction of the mechanical arm group;
    两组所述驱动绳索组的所述第一驱动绳索和所述第二驱动绳索,沿所述机械臂组的周向,均匀分布。The first driving ropes and the second driving ropes of the two driving rope groups are evenly distributed along the circumferential direction of the mechanical arm group.
  5. 根据权利要求4所述的基于闭环驱动绳索的超冗余联动柔性机械臂,其特征在于,所述机械臂组包括多组,相邻的所述机械臂组通过关节部铰接。The ultra-redundant linked flexible robotic arm based on a closed-loop drive rope according to claim 4, wherein the robotic arm group includes multiple groups, and the adjacent robotic arm groups are hinged by joints.
  6. 根据权利要求5所述的基于闭环驱动绳索的超冗余联动柔性机械臂,其特征在于, 还包括箱体,所述驱动部包括多个,沿所述箱体的边缘部的周向分布,并安装到所述箱体上。The super-redundant linkage flexible mechanical arm based on a closed-loop drive rope according to claim 5, further comprising a box body, and the driving part comprises a plurality of which are distributed along the circumference of the edge part of the box body, And installed on the box.
  7. 根据权利要求6所述的基于闭环驱动绳索的超冗余联动柔性机械臂,其特征在于,所述绳索中转部包括多处,沿所述箱体的中部的周向分布,并安装到所述箱体上,所述绳索中转部在所述箱体上的安装高度不同。The super-redundant linkage flexible manipulator based on a closed-loop drive rope according to claim 6, wherein the rope intermediate part comprises a plurality of points, which are distributed along the circumferential direction of the middle part of the box body, and are installed to the On the box body, the installation height of the rope transfer part on the box body is different.
  8. 根据权利要求7所述的基于闭环驱动绳索的超冗余联动柔性机械臂,其特征在于,还包括环形的中转座,所述中转座设置在所述箱体的中部,所述中转座上设置有多处高度分别不同的安装座,所述绳索中转部分别安装在所述安装座上。The super-redundant linkage flexible mechanical arm based on a closed-loop drive rope according to claim 7, further comprising an annular relay seat, the relay seat is arranged in the middle of the box, and the relay seat is arranged There are a plurality of mounting seats with different heights respectively, and the rope transfer parts are respectively mounted on the mounting seats.
  9. 根据权利要求8所述的基于闭环驱动绳索的超冗余联动柔性机械臂,其特征在于,每个所述绳索中转部分别包括两个第三滑轮,同一个所述绳索中转部的所述第三滑轮分别安装在同一个所述安装座上,安装后的两个所述第三滑轮的高度相同。The super-redundant linkage flexible manipulator arm based on a closed-loop drive rope according to claim 8, wherein each of the rope transfer parts includes two third pulleys, and the first pulley of the same rope transfer part The three pulleys are respectively installed on the same mounting seat, and the height of the two third pulleys after installation is the same.
  10. 根据权利要求9所述的基于闭环驱动绳索的超冗余联动柔性机械臂,其特征在于,所述安装座分别在所述中转座的径向的两侧,设置有高度相同的两处安装面,不同的所述安装座的所述安装面的高度不同,所述第三滑轮分别安装在同一个所述安装座的所述安装面上,安装后的两个所述第三滑轮的高度相同。The super-redundant linkage flexible mechanical arm based on a closed-loop drive rope according to claim 9, wherein the mounting seat is respectively provided with two mounting surfaces with the same height on both sides in the radial direction of the relay seat The heights of the mounting surfaces of different mounting seats are different, the third pulleys are respectively mounted on the mounting surfaces of the same mounting seat, and the heights of the two third pulleys after installation are the same .
PCT/CN2019/104915 2019-08-14 2019-09-09 Ultra-redundant linkage flexible mechanical arm based on closed-loop driving ropes WO2021026991A1 (en)

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