CN108247622B - 7DOF Modular Rope-Driven Manipulator - Google Patents
7DOF Modular Rope-Driven Manipulator Download PDFInfo
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- CN108247622B CN108247622B CN201711492553.3A CN201711492553A CN108247622B CN 108247622 B CN108247622 B CN 108247622B CN 201711492553 A CN201711492553 A CN 201711492553A CN 108247622 B CN108247622 B CN 108247622B
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- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 210000000707 wrist Anatomy 0.000 claims description 18
- 238000004804 winding Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- 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
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- Engineering & Computer Science (AREA)
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Abstract
本发明涉及七自由度模块化绳驱机械臂，其模块化关节包括驱动电机，驱动电机带动减速机构，所述减速机构的输出轴穿过绳轮的中间孔带动所述绳轮转动，还带动所述绳轮上方设置的第一轴承的轴承内圈；设置第二轴承与所述第一轴承的轴线平行，第一、第二轴承的轴承外圈固定法兰之间固定连接、外圈轴承座固定连接；所述绳轮与所述第二轴承的内圈轴承座之间缠绕有驱动绳索。本发明的模块化关节中，驱动电机带动绳轮以及第一轴承运动，绳轮上的驱动绳索带动第二轴承转动，结构简单合理，并且具有一定在载荷能力；将模块化关节按一定方式布局、连接，形成七自由度模块化绳驱机械臂，质量小，精度高，且提升机械臂转动时的安全性能。
The invention relates to a seven-degree-of-freedom modular rope-driven mechanical arm. Its modular joint includes a drive motor, and the drive motor drives a deceleration mechanism. The output shaft of the deceleration mechanism passes through the middle hole of the rope pulley to drive the rope pulley to rotate, and also drives The bearing inner ring of the first bearing arranged above the rope pulley; the second bearing is arranged parallel to the axis of the first bearing, the bearing outer ring fixing flanges of the first and second bearings are fixedly connected, and the outer ring bearing The seat is fixedly connected; a driving rope is wound between the sheave and the inner ring bearing seat of the second bearing. In the modular joint of the present invention, the driving motor drives the sheave and the first bearing to move, and the driving rope on the sheave drives the second bearing to rotate, the structure is simple and reasonable, and has a certain load capacity; the modular joints are arranged in a certain way , connected to form a seven-degree-of-freedom modular rope-driven manipulator, with low mass, high precision, and improved safety performance when the manipulator rotates.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a seven-degree-of-freedom modular rope-driven mechanical arm.
Background
With the development of the robot technology, the mechanical structure of the traditional industrial robot is basically fixed, the joint of the traditional industrial robot is generally composed of a motor, a harmonic reducer or an RV reducer, a bearing and the like, the mechanical structure is complex, and the quality requirement on key parts in the mechanical structure is high; meanwhile, the mechanical arm of the traditional industrial robot is large in size, large in mass and high in danger, and potential safety hazards exist during man-machine interaction.
In the prior art, the mass and the volume of the rope-driven mechanical arm are greatly reduced compared with the mechanical arm of a traditional industrial robot, but the rope in the rope-driven mechanical arm is easy to generate elastic deformation or plastic deformation when stressed, so that the overall rigidity of the mechanical arm is insufficient, and the bearing capacity is limited; and the problems of motion coupling, low control precision, complex assembly process and the like exist among joints of part of the rope-driven mechanical arm.
Disclosure of Invention
The invention aims to solve the technical problem of providing a seven-degree-of-freedom modular rope-driven mechanical arm.
The technical scheme adopted by the invention for solving the technical problems is as follows: seven degree of freedom modularization rope drive arms, its characterized in that includes the modularization joint, the modularization joint includes: the driving motor drives the speed reducing mechanism, an output shaft of the speed reducing mechanism penetrates through a middle hole of the rope pulley to drive the rope pulley to rotate, and a bearing inner ring of a first bearing arranged above the rope pulley is driven; a second bearing is arranged beside the first bearing, the first bearing is parallel to the axis of the second bearing, the bearing outer ring fixing flanges of the first bearing and the second bearing are fixedly connected, and the outer ring bearing seats of the first bearing and the second bearing are fixedly connected; a driving rope is wound between the rope pulley and the inner ring bearing seat of the second bearing;
the front surface of the second bearing is provided with an inner ring fixing flange which is fixedly connected with the inner ring of the second bearing; a cover plate is arranged on the back of the second bearing;
further comprising: the device comprises a base, a shoulder, an elbow and a wrist, wherein a first connecting arm is arranged between the shoulder and the elbow, and a second connecting arm is arranged between the elbow and the wrist;
the modular joints are distributed on the shoulder part and are a first modular joint, a second modular joint and a third modular joint, and an outer ring bearing seat of a second bearing of the first modular joint is fixedly connected with the base; an outer ring bearing seat of a second bearing of the second modular joint is fixedly connected with an inner ring fixing flange of a second bearing of the first modular joint; an outer ring bearing seat of a second bearing of a third modular joint is fixedly connected with an inner ring fixing flange of the second bearing of the second modular joint, and meanwhile, an inner ring fixing flange of the third modular joint is fixedly connected with the first connecting arm;
one modular joint is distributed at the elbow and is a fourth modular joint, the inner ring fixing flange of a second bearing of the fourth modular joint is fixedly connected with the first connecting arm, and the cover plate of the fourth modular joint is fixedly connected with the second connecting arm;
the wrist part is provided with three modular joints, namely a fifth modular joint, a sixth modular joint and a seventh modular joint, a cover plate of a second bearing of the fifth modular joint is fixedly connected with the second connecting arm, and an outer ring bearing seat of a second bearing of the sixth modular joint is fixedly connected with an inner ring fixing flange of the second bearing of the fifth modular joint; and an outer ring bearing seat of a second bearing of the seventh modular joint is fixedly connected with an inner ring fixing flange of a second bearing of the sixth modular joint.
In a preferred embodiment, the two driving ropes are symmetrically arranged relative to the rope pulley, each driving rope winds around the rope pulley for half a turn, penetrates through a small hole formed in the side wall of the outer ring bearing seat of the second bearing, and is fixed in a wiring groove of the inner ring bearing seat of the second bearing after winding a half turn in the wiring groove of the inner ring bearing seat of the second bearing.
In a preferred embodiment, the first bearing is a deep groove ball bearing.
In a preferred embodiment, the second bearing is a cross roller bearing.
In a preferred embodiment, the absolute encoder further comprises a magnetic ring and a reading head, the reading head is fixedly installed on a fixed outer ring bearing seat of the second bearing, and the magnetic ring is installed on a rotating inner ring bearing seat of the second bearing; and the absolute encoder reads the rotation angle of the second bearing and feeds back the rotation angle information to the control board.
In a preferred embodiment, the rope tensioning device further comprises a rope tensioning mechanism, the rope tensioning mechanism comprises a hollow stud and an adjusting nut, the upper end and the lower end of the adjusting nut are fixedly connected with the upper bottom surface and the lower bottom surface of the rope wheel respectively, a threaded hole is formed in the middle of the adjusting nut, the hollow stud is in threaded connection with the adjusting nut, and the axial direction of the hollow stud is along the tangential direction of the rope wheel; the driving rope penetrates through the interior of the hollow stud and is knotted and fixed at one end of the hollow stud.
In a preferred embodiment, the axes of the second bearings in the three modular joints of the shoulder are mutually perpendicular in pairs; the axes of the second bearings in the three modular joints of the wrist are perpendicular to each other two by two.
In a preferred embodiment, the drive motor, the reduction mechanism and the first bearing in the modular joint of the wrist and the elbow are mounted postedly on the base.
In a preferred embodiment, the first connecting arm and the second connecting arm are provided with routing clamping grooves, the wrist part and the driving rope in the elbow part are distributed along the first connecting arm and the second connecting arm through the routing clamping grooves, and the driving rope is contained by a hose to perform motion decoupling.
The invention has the beneficial effects that:
in the modular joint, the driving motor drives the rope pulley and the first bearing to move, and the driving rope on the rope pulley drives the second bearing to rotate, so that the modular joint is simple and reasonable in structure and has certain loading capacity; the modularized joints are distributed and connected according to a certain mode to form the seven-degree-of-freedom modularized rope-driven mechanical arm, the mass is small, the precision is high, and the safety performance of the mechanical arm during rotation is improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a cross-sectional view of one embodiment of a modular joint of the present invention;
FIG. 2 is a schematic diagram of the component structure of the embodiment of FIG. 1;
fig. 3 is a schematic structural diagram of one embodiment of the seven-degree-of-freedom modular rope-driven robotic arm of the present invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Further, the description of the upper, lower, left, right, etc. used in the present invention is only with respect to the positional relationship of the respective components of the present invention with respect to each other in the drawings.
Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any combination of one or more of the associated listed items.
Fig. 1 is a schematic block diagram of an embodiment of a modular joint of the present invention, and with reference to fig. 1-3, the modular joint comprises: the device comprises a driving motor 1, a speed reducing mechanism 2, a rope wheel 3, a first bearing 4, a second bearing 5, a driving rope 6, an absolute type encoder 7, a rope tensioning mechanism 8 and a hose 9.
In this embodiment, as shown in fig. 1 to 3, the driving motor 1 drives the speed reducing mechanism 2, an output shaft of the speed reducing mechanism 2 passes through a middle hole of the rope pulley 3 to drive the rope pulley 3 to rotate, and also passes through a bearing inner ring (not shown in the figure) of a first bearing arranged above the rope pulley 3; a second bearing 5 is arranged beside the first bearing 4, the first bearing 4 is parallel to the axis of the second bearing 5, bearing outer ring fixing flanges 402 of the first bearing and the second bearing are fixedly connected, and outer ring bearing seats 403 of the first bearing and the second bearing are fixedly connected; a drive rope 6 is wound between the sheave 3 and the inner bearing support 501 of the second bearing. The ropes drive low clearance and low friction. Here, it is preferable that the driving motor 1 is a dc brushless motor and the reduction mechanism 2 is a spur gear box.
Here, it is preferable that two drive ropes 6 are provided symmetrically with respect to the sheave 3, and each drive rope 6 is wound around the sheave 3 by half a turn, passes through a small hole provided in a side wall of the outer ring bearing holder 403 of the second bearing, is wound around a half turn in a raceway groove of the inner ring bearing holder 501 of the second bearing, and is fixed in the raceway groove of the inner ring bearing holder 501 of the second bearing. Two symmetrically arranged drive ropes are used for bearing tension when the joint rotates clockwise and anticlockwise respectively. The side wall of the outer ring bearing seat 403 of the second bearing is provided with a small hole, which is beneficial to the routing of the driving rope 6.
Here, the first bearing 4 is preferably a deep groove ball bearing, which can increase the action of the torque that the output shaft of the drive motor 1 can bear, thereby improving the bearing capacity of the joint.
Here, preferably, the second bearing 5 is a cross roller bearing, an inner ring fixing flange 503 is provided on a front surface of the cross roller bearing 5, and the inner ring fixing flange 503 is fixedly connected with an inner ring 504 of the cross roller bearing; a cover plate 505 is provided on the back of the crossed roller bearing. The inner ring and the outer ring of the crossed roller bearing can be separated, the rigidity is higher, and the rigidity and the load capacity of the modular joint are improved.
In this embodiment, it is preferable that the absolute encoder 7 is further included, the absolute encoder 7 includes a magnetic ring and a reading head, the reading head is fixedly installed on the outer ring bearing seat 403 of the fixed second bearing, and the magnetic ring is installed on the inner ring bearing seat 501 of the rotating second bearing; the absolute encoder 7 measures the actual rotation angle of the second bearing 5 and feeds back the rotation angle information to the control board to form a closed-loop control with feedback, so that the motion precision of the joint is ensured.
In this embodiment, preferably, the rope tensioning device further includes a rope tensioning mechanism 8, the rope tensioning mechanism 8 includes a hollow stud 801 and an adjusting nut 802, the upper end and the lower end of the adjusting nut 802 are respectively and fixedly connected with the upper bottom surface and the lower bottom surface of the rope sheave 3, a threaded hole is formed in the middle of the adjusting nut 802, the hollow stud 801 is in threaded connection with the adjusting nut 802, and the axial direction of the hollow stud 801 is along the tangential direction of the rope sheave 3; the drive rope 6 passes through the inside of the hollow stud 801 and is tied and fixed at one end of the hollow stud 801. The hollow stud 801 is rotated to generate micro-movement in the adjusting nut 802 along the axial direction, so that the tension of the driving rope 6 is adjusted, and the driving rope 6 is always kept in a tension state.
The seven-degree-of-freedom modular rope-driven mechanical arm comprises: the wrist joint comprises a shoulder 10, an elbow 20 and a wrist 30, wherein a first connecting arm 40 is arranged between the shoulder 10 and the elbow 20, a second connecting arm 50 is arranged between the elbow 20 and the wrist 30, and the wrist joint further comprises a base 60 and the modular joint;
the shoulder 10 is distributed with a first modular joint, a second modular joint and a third modular joint, and an outer ring bearing seat of a second bearing of the first modular joint 101 is fixedly connected with the base 60; an outer ring bearing seat of a second bearing of the second modular joint 102 is fixedly connected with an inner ring fixing flange of a second bearing of the first modular joint 101; the outer ring bearing seat of the second bearing of the third modular joint 103 is fixedly connected with the inner ring fixing flange of the second bearing of the second modular joint 102, and the inner ring fixing flange of the third modular joint 103 is fixedly connected with the first connecting arm 40.
A fourth modular joint 201 is distributed on the elbow 20, an inner ring fixing flange of a second bearing of the fourth modular joint 201 is fixedly connected with the first connecting arm 40, and a cover plate of the second bearing of the fourth modular joint 201 is fixedly connected with the second connecting arm 50.
A fifth modular joint, a sixth modular joint and a seventh modular joint are distributed on the wrist part 30, a cover plate of a second bearing of the fifth modular joint 301 is fixedly connected with the second connecting arm 50, and an outer ring bearing seat of the second bearing of the sixth modular joint 302 is fixedly connected with an inner ring fixing flange of the second bearing of the fifth modular joint 301; the outer ring bearing seat of the second bearing of the seventh modular joint 303 is fixedly connected with the inner ring fixing flange of the second bearing of the sixth modular joint 302.
Thus, the seven-degree-of-freedom modularized rope-driven mechanical arm is constructed and formed. Similar to the human hand, seven degrees of freedom are the least degrees of freedom needed to avoid obstacles and avoid internal singularities.
Here, preferably, the first connecting arm 40 and the second connecting arm 50 are made of carbon reinforced engineering plastics, and the first connecting arm 40 and the second connecting arm 50 are in a net truss structure, so that the mass of the arm is reduced as much as possible while the strength and rigidity of the arm are ensured.
Here, preferably, the axes of the second bearings in the three modular joints of the shoulder 10 are mutually perpendicular two by two; the axes of the second bearings in the three modular joints of the wrist 30 are perpendicular to each other two by two. The three joints respectively play roles of pitching, yawing and overturning.
In the present embodiment, it is preferable that the drive motor 1, the reduction mechanism 2, the sheave 3, and the first bearing 4 in the modular joint of the wrist portion 30 and the elbow portion 20 be mounted on the base 60 in a rear position. Therefore, the mass of the front end of the mechanical arm is further reduced, the rotational inertia of the mechanical arm is reduced, the safety of the mechanical arm in the high-speed movement process is further guaranteed, and various performance indexes such as precision and stability in movement are improved.
In this embodiment, it is preferable that the first connecting arm 40 and the second connecting arm 50 are provided with routing slots (not shown in the drawings), and the driving ropes 6 in the wrist portion 30 and the elbow 20 are distributed along the first connecting arm 40 and the second connecting arm 50 through the routing slots, so that the routing of the driving ropes 6 is managed, and the driving ropes 6 are prevented from affecting the rotation of the robot arm; further, the driving rope 6 is contained by the hose 9, so that the driving rope 6 is prevented from being too much to generate kinematic coupling, and the normal rotation of each joint of the mechanical arm is prevented from being influenced.
According to the invention, the joints with the modular design can flexibly change the number of the joints of the mechanical arm and the configuration mode of each joint according to the requirements of different application scenes.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711492553.3A CN108247622B (en) | 2017-12-30 | 2017-12-30 | 7DOF Modular Rope-Driven Manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711492553.3A CN108247622B (en) | 2017-12-30 | 2017-12-30 | 7DOF Modular Rope-Driven Manipulator |
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| CN108247622A CN108247622A (en) | 2018-07-06 |
| CN108247622B true CN108247622B (en) | 2021-03-19 |
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| CN201711492553.3A Active CN108247622B (en) | 2017-12-30 | 2017-12-30 | 7DOF Modular Rope-Driven Manipulator |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547093B (en) * | 2019-08-28 | 2024-09-03 | 贵州航天智慧农业有限公司 | Light agricultural picking mechanical arm |
| CN111037533A (en) * | 2019-12-26 | 2020-04-21 | 沈阳新松机器人自动化股份有限公司 | Mobile super-redundant composite robot |
| CN112476477B (en) * | 2020-11-12 | 2022-04-19 | 中国科学技术大学 | A rope-driven three-degree-of-freedom offset joint |
| CN113188574B (en) * | 2021-05-25 | 2022-10-18 | 上海电气智能康复医疗科技有限公司 | Split type coding assembly, speed reducer module and installation method |
| CN114406999B (en) * | 2022-02-11 | 2023-11-21 | 吉林大学 | Rope-driven coaxial artificial muscle actuator and control method thereof |
| CN116652920B (en) * | 2023-08-01 | 2024-02-23 | 埃斯顿(南京)医疗科技有限公司 | Rope driving robot, rope differential mechanism and rope driving robot steel rope tensioning detection method |
| CN119424202A (en) * | 2024-11-20 | 2025-02-14 | 上海交通大学 | An automated moxibustion therapy robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5428713A (en) * | 1991-11-25 | 1995-06-27 | Kabushiki Kaisha Toshiba | Compound module type manipulator apparatus |
| CN101518491A (en) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | Finger motor function rehabilitation robot |
| CN105479485A (en) * | 2016-01-28 | 2016-04-13 | 哈尔滨工业大学 | Serial flexible driving joint having steel wire transmission function |
| CN205889243U (en) * | 2016-05-19 | 2017-01-18 | 北京自动化控制设备研究所 | People's arm is imitated to modularization |
| CN106737629A (en) * | 2017-02-28 | 2017-05-31 | 深圳源创智能机器人有限公司 | A kind of flexible arm linkage robot driven based on rope |
-
2017
- 2017-12-30 CN CN201711492553.3A patent/CN108247622B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5428713A (en) * | 1991-11-25 | 1995-06-27 | Kabushiki Kaisha Toshiba | Compound module type manipulator apparatus |
| CN101518491A (en) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | Finger motor function rehabilitation robot |
| CN105479485A (en) * | 2016-01-28 | 2016-04-13 | 哈尔滨工业大学 | Serial flexible driving joint having steel wire transmission function |
| CN205889243U (en) * | 2016-05-19 | 2017-01-18 | 北京自动化控制设备研究所 | People's arm is imitated to modularization |
| CN106737629A (en) * | 2017-02-28 | 2017-05-31 | 深圳源创智能机器人有限公司 | A kind of flexible arm linkage robot driven based on rope |
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