CN100464958C - Rope-driven redundancy mechanical arm - Google Patents
Rope-driven redundancy mechanical arm Download PDFInfo
- Publication number
- CN100464958C CN100464958C CNB2007100637819A CN200710063781A CN100464958C CN 100464958 C CN100464958 C CN 100464958C CN B2007100637819 A CNB2007100637819 A CN B2007100637819A CN 200710063781 A CN200710063781 A CN 200710063781A CN 100464958 C CN100464958 C CN 100464958C
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- joint
- control wire
- drive
- elbow joint
- elbow
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Abstract
A redundant manipulator driven by strings is composed of a base, a one-freedom elbow joint consisting of fixing platform, drive wheel, joint rod, drive axle and manipulating strings, and the three-freedom wrist and shoulder joints consisting of fixed platform, movable platform, joint rod, spherical bearing, and manipulating strings. Said manipulating string and/or drive wheel have stop mechanism, preventing skid.
Description
Technical field
The present invention relates to a kind of mechanical arm, particularly a kind of rope-driven redundancy mechanical arm.
Background technology
The redundancy robot has consequence owing to have higher flexibility in current intelligent machine people's development.The motor of the anthropomorphic arm robot of tradition is installed in joint, has increased the inertia and the quality of robot, has reduced the bearing capacity of robot, and is also totally unfavorable to high-speed motion and quick response simultaneously.Rope drives to overcoming traditional robot driving the robot Effect on Performance has been brought new thinking, the cable-driven humanoid-arm robot uses the rope driven Parallel Kinematic Manipulator to replace anthropomorphic arm robot joint, effectively alleviated the deadweight of arm, and improved capability of fast response, be applicable to occasion, as space industry to weight and rotary inertia requirement harshness.Because motor and control circuit be all away from end effector, the infection that is not vulnerable to environmental contaminants when making their work causes damage, and the rope driving mechanism is easy to dismounting again, safeguards and assembling that robot just can be applied to the abominable workplace of environment like this.
So-called rope driven Parallel Kinematic Manipulator utilizes rope to transmit a class parallel institution of power and motion exactly, and it combines the high rigidity of parallel-connection structure, high accuracy, high load capability and rope and drives low-quality advantage, has solved the transmission and the control of wrist joint and shoulder joint.But find in actual the use: the elbow joint of rope driving device arm is because the revolute joint that adopts two ropes to drive, when bearing capacity is big, skidding appears in rope easily that drive revolute joint, not only influences control accuracy, and totally unfavorable to high-speed motion and quick response.
Summary of the invention
The purpose of this invention is to provide a kind of rope-driven redundancy mechanical arm, the elbow joint that effectively solves prior art rope driving device arm is prone to the technical problems such as influencing control accuracy of skidding.
To achieve these goals, the invention provides a kind of rope-driven redundancy mechanical arm, the wrist joint and the shoulder joint that comprise the elbow joint and the Three Degree Of Freedom of base, single-degree-of-freedom, described wrist joint comprises wrist joint fixed platform, wrist joint motion platform, wrist joint bar, wrist joint ball bearing and wrist joint control wire, described wrist joint motion platform is connected with the wrist joint fixed platform with the wrist joint ball bearing that its end is provided with by the wrist joint bar, and the wrist joint control wire is fixed in four jiaos of wrist joint motion platform; Described elbow joint comprises elbow joint fixed platform, drive, elbow joint bar, power transmission shaft and elbow joint control wire, described elbow joint fixed platform is concave structure and is fixed in the elbow joint boom end, described power transmission shaft is located on the elbow joint fixed platform, be positioned at the groove of elbow joint fixed platform with the affixed drive of described wrist joint boom end and be fixed on the power transmission shaft, the winding of elbow joint control wire is on described drive, and described elbow joint control wire and/or drive are provided with and make the relatively-stationary stop mechanism of the two contact point; Described shoulder joint comprises shoulder joint fixed platform, shoulder joint kinesitherapy platform, shoulder joint pole, shoulder joint ball bearing and shoulder joint control wire, the shoulder joint kinesitherapy platform affixed with described elbow joint boom end is connected with the shoulder joint fixed platform with the shoulder joint ball bearing that its end is provided with by the shoulder joint connecting rod, and the shoulder joint control wire is fixed in four jiaos of shoulder joint kinesitherapy platform; Described base comprises base plate and bottom bar, and described bottom bar is fixed between base plate and the shoulder joint fixed platform, and described base plate is provided with the driving mechanism that is used to drive described wrist joint control wire, elbow joint control wire and shoulder joint control wire.
Described stop mechanism can be the stop cone that is provided with on drive or the elbow joint control wire, described stop mechanism also can be the stop cone in the described stop taper hole of insertion that is provided with on the stop taper hole that is provided with on the drive and the elbow joint control wire, and described stop mechanism can also be the stop cone in the described stop taper hole of insertion that is provided with on the stop taper hole that is provided with on the elbow joint control wire and the drive.
Described stop taper hole or stop cone are positioned at the top of described drive.Described stop cone with being connected of drive or elbow joint control wire can be spirally connected, welding, clamping or winding.
The present invention proposes a kind of a kind of rope-driven redundancy mechanical arm with seven freedom motion, by on elbow joint control wire and/or drive, stop mechanism being set, make the two contact point relative fixed of elbow joint control wire and drive, thoroughly eliminate the problem of skidding that elbow joint occurs easily, have the better controlled precision, mechanical arm high-speed motion and the quick requirement that responds also can finely be realized.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 is the structural representation of a kind of rope-driven redundancy mechanical arm of the present invention;
Fig. 2 is the structural representation of elbow joint of the present invention.
Description of reference numerals:
1-wrist joint; 2-elbow joint; 3-shoulder joint;
4-base; 11-wrist joint fixed platform; 12-wrist joint motion platform;
13-wrist joint bar; 14-wrist joint ball bearing; 15-wrist joint control wire;
21-elbow joint fixed platform; 22-drive; 23-elbow joint bar;
24-power transmission shaft; 25-elbow joint control wire; 26-stop mechanism;
31-shoulder joint fixed platform; 32-shoulder joint kinesitherapy platform; 33-shoulder joint pole;
34-shoulder joint ball bearing; 35-shoulder joint control wire; 41-base plate;
42-bottom bar; 43-driving mechanism.
The specific embodiment
Fig. 1 is the structural representation of a kind of rope-driven redundancy mechanical arm of the present invention.As shown in Figure 1, a kind of agent structure of rope-driven redundancy mechanical arm comprises wrist joint 1, elbow joint 2, shoulder joint 3 and the base 4 that connects successively, and wrist joint 1 and shoulder joint 3 are the Three Degree Of Freedom joint, and elbow joint 2 is the single-degree-of-freedom joint.Wherein wrist joint 1 comprises wrist joint fixed platform 11, wrist joint motion platform 12, wrist joint bar 13, wrist joint ball bearing 14 and wrist joint control wire 15; Elbow joint 2 comprises elbow joint fixed platform 21, drive 22, elbow joint bar 23, power transmission shaft 24 and elbow joint control wire 25; Shoulder joint 3 comprises shoulder joint fixed platform 31, shoulder joint kinesitherapy platform 32, shoulder joint pole 33, shoulder joint ball bearing 34 and shoulder joint control wire 35; Base 4 comprises base plate 41 and bottom bar 42.
Particularly, the lower end of wrist joint bar 13 is fixed on the wrist joint fixed platform 11, the upper end is provided with wrist joint ball bearing 14, and be connected with wrist joint motion platform 12 by wrist joint ball bearing 14, one end of 4 wrist joint control wires 15 is fixed in four jiaos of wrist joint motion platform 12 respectively, the other end passes wrist joint fixed platform 11 and is connected with driving mechanism 43, driving mechanism 43 is by 4 wrist joint control wires 15 of pulling, making wrist joint motion platform 12 serves as to change heart deflection with wrist joint ball bearing 14, realizes the three-degree-of-freedom motion of wrist joint 1.
Elbow joint fixed platform 21 is a concave structure, its underpart is fixed in the upper end of elbow joint bar 23, elbow joint fixed platform 21 wears a power transmission shaft 24, affixed drive 22 and be positioned at groove in the middle of the elbow joint fixed platform 21 on the power transmission shaft 24,25 windings of elbow joint control wire are on drive 22, the two ends of elbow joint control wire 25 are connected with driving mechanism 43, driving mechanism 43 is by 2 elbow joint control wires 25 of pulling, making drive 22 is that the centre of gyration rotates with power transmission shaft 24, realizes the single-degree-of-freedom motion of elbow joint 2.Drive 22 is affixed with the lower end of the wrist joint bar 13 of wrist joint 1, so drive 22 will drive whole wrist joint 1 when rotating and do single-degree-of-freedom and move.
The lower end of shoulder joint pole 33 is fixed on the shoulder joint fixed platform 31, the upper end is provided with shoulder joint ball bearing 34, and be connected with shoulder joint kinesitherapy platform 32 by shoulder joint ball bearing 34, one end of 4 shoulder joint control wires 35 is fixed in four jiaos of shoulder joint kinesitherapy platform 32 respectively, the other end passes shoulder joint fixed platform 31 and is connected with driving mechanism 43, driving mechanism 43 is by 4 shoulder joint control wires 35 of pulling, making shoulder joint kinesitherapy platform 32 serves as to change heart deflection with shoulder joint ball bearing 34, realizes the three-degree-of-freedom motion of shoulder joint 3.Shoulder joint kinesitherapy platform 32 is affixed with the bottom of elbow joint bar 23, so will drive whole elbow joint 2 during 32 deflections of shoulder joint kinesitherapy platform and wrist joint 1 is done three-degree-of-freedom motion.
Bottom bar 42 is fixed between base plate 41 and the shoulder joint fixed platform 31, and base plate 41 is provided with driving mechanism 43, and driving mechanism 43 comprises hoisting mechanism and motor, and motor drives hoisting mechanism by decelerator and rotates.The driving mechanism 43 of present embodiment is 10, by spurring 15,2 elbow joint control wires 25 of 4 wrist joint control wires and 4 shoulder joint control wires 35, thereby drive whole system realization seven freedom form and carry out autokinesis around shoulder wrist line, can avoid obstacle or inner unusual, be fit to the flexibility operation under the complex environment.Wherein, shoulder joint control wire 35 passes 32 motions of shoulder joint fixed platform 31 control shoulder joint kinesitherapy platforms, elbow joint control wire 25 passes shoulder joint fixed platform 31,22 motions of shoulder joint kinesitherapy platform 32 control drives, and wrist joint control wire 15 passes shoulder joint fixed platform 31, shoulder joint kinesitherapy platform 32, elbow joint fixed platform 21 and 12 motions of wrist joint fixed platform 11 control wrist joint motion platforms successively.The both sides of elbow joint fixed platform 21 respectively are provided with two leading blocks, wrist joint control wire 15 is directed to wrist joint 1, leading block is installed on the centre of gyration of elbow joint 2 by the drive plate that is fixed in power transmission shaft 24 two ends, make the axial line of wrist joint control wire 15 through moving runner 22, thereby when elbow joint 2 rotates, the variation that bends of 15 of wrist joint control wires, length can not be affected, and the motion of elbow joint 2 can not exerted an influence to wrist joint 1.
Fig. 2 is the structural representation of elbow joint of the present invention.A kind of rope-driven redundancy mechanical arm of the present invention has proposed to be provided with the technical scheme of stop mechanism 26 on elbow joint control wire 25 and/or drive 22, mantle hole or stop cone till the stop mechanism 26, make elbow joint control wire 25 and drive 22 the two contact point relative fixed, thoroughly eliminate the problem of skidding that elbow joint occurs easily.Fig. 2 has only illustrated mantle body situation till the stop mechanism 26.Describe technical scheme of the present invention in detail below by the specific embodiment.
First embodiment
Present embodiment is that the stop taper hole is set on the drive 22, and the stop cone is set on the elbow joint control wire 25.Particularly, the stop taper hole is the groove that drive 22 tops are offered, the stop cone is the projection that is fixed on the elbow joint control wire 25, the projection that is fixed on the elbow joint control wire 25 is inserted in the groove of offering at drive 22 tops, makes the drive 22 and elbow joint control wire 25 relative fixed of this position.When elbow joint control wire 25 pulling drives 22 rotated, because the restriction of projection and groove, elbow joint control wire 25 skidding can not occur, has the better controlled precision, and the requirement with response fast also can finely realize to the mechanical arm high-speed motion.
In the present embodiment, stop taper hole and stop cone can have multiple implementation structure, the stop taper hole can be the structure that cylinder groove, conical grooves, rectangular channel and those skilled in the art habitually practise, the stop cone can be the structure that cylinder, cone, cuboid and those skilled in the art habitually practise, the stop cone can have multiple implementation structure with being connected also of elbow joint control wire 25, as be spirally connected, method of attachment that welding, clamping, winding or those skilled in the art habitually practise, repeat no more.
Second embodiment
Present embodiment is that the stop cone is set on the drive 22, and the stop taper hole is set on the elbow joint control wire 25.Particularly, the stop taper hole is groove or the through hole of offering on the elbow joint control wire 25, the stop cone is the projection that drive 22 tops are provided with, the projection that drive 22 tops are provided with is inserted in the groove or through hole that is opened on the elbow joint control wire 25, makes the drive 22 and elbow joint control wire 25 relative fixed of this position.When elbow joint control wire 25 pulling drives 22 rotated, because the restriction of projection and groove, elbow joint control wire 25 skidding can not occur, has the better controlled precision, and the requirement with response fast also can finely realize to the mechanical arm high-speed motion.
In the present embodiment, stop taper hole and stop cone can have multiple implementation structure, the stop taper hole can be the structure that cylinder groove or through hole, conical grooves or through hole, rectangular channel or through hole and those skilled in the art habitually practise, the stop cone can be the structure that cylinder, cone, cuboid and those skilled in the art habitually practise, the stop cone can have multiple implementation structure with being connected also of drive 22, as be spirally connected, method of attachment that welding, clamping, winding or those skilled in the art habitually practise, repeat no more.
The 3rd embodiment
Present embodiment is that the stop cone is set on the drive 22, and elbow joint control wire 25 is fixed on the stop cone.Particularly, the stop cone is the projection that drive 22 tops are provided with, projection can be the structure that cylinder, cone, cuboid and those skilled in the art habitually practise, elbow joint control wire 25 by as be spirally connected, modes such as welding, clamping, winding are affixed with projection, make the drive 22 and elbow joint control wire 25 relative fixed of this position, wherein canoe is the easiest.
The 4th embodiment
Present embodiment is that the stop cone is set on the elbow joint control wire 25.Particularly, the stop cone is a projection affixed on the elbow joint control wire 25, projection can be the structure that cylinder, cone, cuboid and those skilled in the art habitually practise, by as be spirally connected, modes such as welding, clamping, winding are fixed on the elbow joint control wire 25, by the drive 22 and elbow joint control wire 25 relative fixed of extra this position of frictional force that produces of high spot.
It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not break away from the essence and the scope of technical solution of the present invention.
Claims (10)
1. rope-driven redundancy mechanical arm comprises it is characterized in that the wrist joint (1) and the shoulder joint (3) of the elbow joint (2) and the Three Degree Of Freedom of base (4), single-degree-of-freedom:
Described wrist joint (1) comprises wrist joint fixed platform (11), wrist joint motion platform (12), wrist joint bar (13), wrist joint ball bearing (14) and wrist joint control wire (15), described wrist joint motion platform (12) is connected with wrist joint fixed platform (11) with the wrist joint ball bearing (14) that its end is provided with by wrist joint bar (13), and wrist joint control wire (15) is fixed in four jiaos of wrist joint motion platform (12);
Described elbow joint (2) comprises elbow joint fixed platform (21), drive (22), elbow joint bar (23), power transmission shaft (24) and elbow joint control wire (25), described elbow joint fixed platform (21) is for concave structure and be fixed in elbow joint bar (23) end, described power transmission shaft (24) is located on the elbow joint fixed platform (21), be positioned at the groove of elbow joint fixed platform (21) with the affixed drive (22) in described wrist joint bar (13) end and be fixed on the power transmission shaft (24), elbow joint control wire (25) winding is on described drive (22), and described elbow joint control wire (25) and/or drive (22) are provided with and make the relatively-stationary stop mechanism of the two contact point (26);
Described shoulder joint (3) comprises shoulder joint fixed platform (31), shoulder joint kinesitherapy platform (32), shoulder joint pole (33), shoulder joint ball bearing (34) and shoulder joint control wire (35), the shoulder joint kinesitherapy platform (32) affixed with described elbow joint bar (23) end is connected with shoulder joint fixed platform (31) with the shoulder joint ball bearing (34) that its end is provided with by shoulder joint connecting rod (33), and shoulder joint control wire (35) is fixed in four jiaos of shoulder joint kinesitherapy platform (32);
Described base (4) comprises base plate (41) and bottom bar (42), described bottom bar (42) is fixed between base plate (41) and the shoulder joint fixed platform (31), and described base plate (41) is provided with the driving mechanism (43) that is used to drive described wrist joint control wire (15), elbow joint control wire (25) and shoulder joint control wire (35).
2. a kind of rope-driven redundancy mechanical arm as claimed in claim 1 is characterized in that, described stop mechanism (26) is that drive (22) or elbow joint control wire (25) are gone up the stop cone that is provided with.
3. a kind of rope-driven redundancy mechanical arm as claimed in claim 1 is characterized in that, described stop mechanism (26) is that last stop taper hole that is provided with of drive (22) and elbow joint control wire (25) are gone up the stop cone in the described stop taper hole of insertion that is provided with.
4. a kind of rope-driven redundancy mechanical arm as claimed in claim 1 is characterized in that, described stop mechanism (26) is that last stop taper hole that is provided with of elbow joint control wire (25) and drive (22) are gone up the stop cone in the described stop taper hole of insertion that is provided with.
5. a kind of rope-driven redundancy mechanical arm as claimed in claim 3 is characterized in that described stop taper hole is positioned at the top of described drive (22).
6. a kind of rope-driven redundancy mechanical arm as claimed in claim 4 is characterized in that described stop cone is positioned at the top of described drive (22).
7. as the arbitrary described a kind of rope-driven redundancy mechanical arm of claim 2～6, it is characterized in that described stop cone is screwed onto on drive (22) or the elbow joint control wire (25).
8. as the arbitrary described a kind of rope-driven redundancy mechanical arm of claim 2～6, it is characterized in that described stop cone is welded on drive (22) or the elbow joint control wire (25).
9. as the arbitrary described a kind of rope-driven redundancy mechanical arm of claim 2～6, it is characterized in that described stop cone is clamped on drive (22) or the elbow joint control wire (25).
10. as the arbitrary described a kind of rope-driven redundancy mechanical arm of claim 2～6, it is characterized in that described stop cone is wrapped on drive (22) or the elbow joint control wire (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100637819A CN100464958C (en) | 2007-02-09 | 2007-02-09 | Rope-driven redundancy mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100637819A CN100464958C (en) | 2007-02-09 | 2007-02-09 | Rope-driven redundancy mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101028712A CN101028712A (en) | 2007-09-05 |
| CN100464958C true CN100464958C (en) | 2009-03-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100637819A Expired - Fee Related CN100464958C (en) | 2007-02-09 | 2007-02-09 | Rope-driven redundancy mechanical arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN100464958C (en) |
Families Citing this family (24)
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| TWI386291B (en) * | 2009-11-30 | 2013-02-21 | Ind Tech Res Inst | A power transmission mechanism and a robot utilizing the mechanism are presented |
| CN101733743B (en) * | 2010-01-02 | 2011-07-06 | 华南理工大学 | Drawing wire type serial mechanical arm |
| CN101791802B (en) * | 2010-01-21 | 2012-07-04 | 上海大学 | Three-degree of freedom under-actuated robot wrist device |
| CN101804627B (en) * | 2010-04-02 | 2011-12-07 | 中山大学 | Redundant manipulator motion planning method |
| CN101890723B (en) * | 2010-07-01 | 2011-12-21 | 北京航空航天大学 | Driving mechanism of cable-driven humanoid-arm robot |
| CN103264398B (en) * | 2013-05-08 | 2015-10-28 | 南京航空航天大学 | The robot wrist transmission system of combination drive |
| KR101510019B1 (en) * | 2013-12-18 | 2015-04-07 | 현대자동차주식회사 | Wire-driven robot |
| CN103895033A (en) * | 2014-04-15 | 2014-07-02 | 王光树 | Stretchable mechanical arm |
| CN103895034A (en) * | 2014-04-15 | 2014-07-02 | 王光树 | Mechanical pulling rope |
| CN103895018A (en) * | 2014-04-15 | 2014-07-02 | 王光树 | Free power failure device of manipulator |
| CN105108774A (en) * | 2015-08-24 | 2015-12-02 | 中国科学院等离子体物理研究所 | Mechanical arm yaw driving device used under high vacuum and nuclear fusion environment |
| CN105563519A (en) * | 2016-02-06 | 2016-05-11 | 先驱智能机械（深圳）有限公司 | Mechanical arm and robot |
| CN105599008A (en) * | 2016-02-06 | 2016-05-25 | 先驱智能机械（深圳）有限公司 | Mechanical arm and robot |
| CN105563518A (en) * | 2016-02-06 | 2016-05-11 | 先驱智能机械（深圳）有限公司 | Mechanical arm and robot |
| CN105563517A (en) * | 2016-02-06 | 2016-05-11 | 先驱智能机械（深圳）有限公司 | Mechanical arm |
| CN105563523A (en) * | 2016-02-06 | 2016-05-11 | 先驱智能机械（深圳）有限公司 | Mechanical arm and robot |
| CN107253182B (en) * | 2017-06-26 | 2023-05-23 | 南京航空航天大学 | Rope-driven multi-degree-of-freedom serial mechanical arm and driving method thereof |
| CN107160386A (en) * | 2017-07-12 | 2017-09-15 | 国家康复辅具研究中心 | A kind of bionic mechanical arm |
| CN108237522B (en) * | 2017-12-29 | 2021-04-30 | 哈尔滨工业大学深圳研究生院 | Rope driving device and mechanical arm |
| CN111356561B (en) * | 2018-03-30 | 2023-07-18 | 深圳蓝胖子机器人有限公司 | Knuckle assembly, finger mechanism and manipulator |
| CN108908297A (en) * | 2018-07-17 | 2018-11-30 | 江南大学 | A kind of anthropomorphic arm based on rope driving |
| CN112476478B (en) * | 2020-11-16 | 2022-03-01 | 中国科学技术大学 | Bionic rope-driven four-degree-of-freedom arm oriented to man-machine cooperation |
| CN113787508B (en) * | 2021-09-16 | 2023-01-17 | 长沙理工大学 | Driving mechanism of rope-driven super-redundancy robot |
| CN114347002B (en) * | 2022-02-11 | 2024-01-30 | 清华大学 | Cable-driven parallel-serial palletizing robot with light weight and high bearing characteristic |
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| CN101028712A (en) | 2007-09-05 |
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