CN106514703B - Spoke type flexible mechanical arm based on rope driving - Google Patents
Spoke type flexible mechanical arm based on rope driving Download PDFInfo
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- CN106514703B CN106514703B CN201611123104.7A CN201611123104A CN106514703B CN 106514703 B CN106514703 B CN 106514703B CN 201611123104 A CN201611123104 A CN 201611123104A CN 106514703 B CN106514703 B CN 106514703B
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- connection frame
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- inside casing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
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Abstract
A kind of spoke type flexible mechanical arm based on rope driving, it includes base, Bei Shen mechanism, end effector and driving rope；The Bei Shen mechanism is connected in series by several joint units, and one end of Bei Shen mechanism is fixed on base by terminal pad, and the end of the other end i.e. Bei Shen mechanism is connect with end effector；The driving rope is circumferentially uniformly distributed three, and one end of every rope is fixed on arm body mechanism end, and the cable-through hole that the other end sequentially passes through each joint unit is connected in base on the idler wheel of motor；The joint unit includes outline border connection frame, inside casing connection frame, sliding sleeve, tie rod and corresponding fastening nut, and outline border connection frame is connected with inside casing connection frame using tie rod, forms the joint unit of spoke type.The present invention has arm body light weight, and load is big, the good advantage of mobility, not only ensure that the flexibility of flexible mechanical arm, but also the use scope of the flexible mechanical arm extended.
Description
Technical field
The invention belongs to robot field, in particular to a kind of mechanical arm.
Background technique
Mechanical arm is one kind of robot, and traditional mechanical arm is rigid link composition, usually there is series, parallel or string
And three kinds of structures of mixed connection.The characteristics of this kind of mechanical arm is that have discrete joint and rigid connection, there are also it is a kind of based on octopus arm, as
The bionical non-individual body mechanical arm of the biologic-organs such as nose.Since non-individual body mechanical arm can generate plastic deformation in any part, so
With very strong obstacle avoidance ability, non-structure environment can be preferably adapted to, irregularly shaped object is preferably grabbed.This kind of mechanical arm was both
Clamping device crawl object can be loaded onto end as tradition machinery arm, also can use mechanical arm itself and roll object.
It is powerful from the structure of this kind of mechanical arm, there is good flexibility and adaptability；From the application of this kind of robot
Angle sees that the operation object of these mechanical arms is often the irregular shape target in some complex environments.
Nineteen ninety-five, the KSI tentacle type manipulator that Immega etc. is designed and produced, the manipulator mainly have air bag, servo motor,
6 rope compositions, using soft rope and gas combination drive；2001, Hannan and Walker et al. have developed hyper-redundant as
Nose humanoid robot, the robot are made of 16 U-shaped joints of 2DOF, overall length 82.32cm, can be divided into length not equal 4
Part, wherein each part includes 4 joints.Each joint is mixed realization mixing control by rope with spring；2003,
Peirs et al. has developed a kind of flexible bending joint section for endoscope robot surgical operation.Sequential machine people is by micro-
Electromechanical super-elastic NiTi compo pipe is constituted, and is driven using 4 tendons, has 2 freedom degrees, can be bent 90 in any opposite direction
Degree；2007, Harada et al. had developed a kind of flexible laser operations hand, the manipulator maximum gauge 2.4mm, can to appoint
The bending of meaning direction, maximum bend angle are 90 degree；2011, German Fei Situo company developed and is designed according to the characteristics of big trunk
Novel bionic machine processing system " bionical operation assistant " out, it can smoothly carry heavy duty, and principle is its
Each section vertebra can be extended and be shunk by the compression and inflation of air bag；2014, Chinese patent CN203804991U,
A kind of spring line traffic control flexibility trunk mechanical arm is disclosed, which includes the joint for the multi-stage series being mounted on base,
Wherein the one end in the first joint is fixed on base in concatenated joint, and the other end in the first joint and one end of second joint are solid
Surely it links together, thereafter and so on, it is fixed with elastic support and joint unit on base, there is driving bullet in joint unit
Spring, the series connection arthrodesis is on elastic support, and driving spring passes through series connection joint.
These above mentioned class flexible mechanical arms are divided according to driving method, can be divided into three classes: interior driving, outer
Driving and mixed type.Interior driving general use fills fluid-operated mode in bellows, outer driving continuous using lightweight
Body adds the mode of remote boot server, and mixed type driving is the comprehensive hybrid plan for adopting inside and outside two kinds of drivings.Outer driving or mixing
The possibility of lightweight non-individual body in driving scheme uses elastic rod to realize as vertebra or with cylindrical spring without vertebra.Currently, just
From the point of view of bearing capacity, driving method is higher using the outer driving method bearing capacity of rope, but the mechanical arm body of this kind of mechanical arm
It is heavier, affect further increasing for the flexibility of this kind of mechanical arm, mobility and bearing capacity.
Summary of the invention
The purpose of the present invention is to provide a kind of light weights, and mobility is good, the wheel based on rope driving of large carrying capacity
Spoke flexible mechanical arm.
The present invention includes base, Bei Shen mechanism, end effector and driving rope, and wherein base includes machine base outer shell, 3
Motor, power supply and control unit, motor, power supply and control unit are fixed in machine base outer shell；Bei Shen mechanism is by several groups joint
Unit is connected in series by cross-garnet butt, and one end of Bei Shen mechanism is fixed on base by terminal pad, the other end and end
Actuator connection, for grabbing target object；Driving rope is circumferentially uniformly distributed three, and one end of every rope is fixed on arm body
Mechanism end, the cable-through hole that the other end sequentially passes through each joint unit are connected to the rolling of 3 motors in base
On wheel；The terminal pad is the ring flange with unthreaded hole, and the one side connecting with base is plane, and another side is with holes equipped with one
U-shaped ear mount, to connect joint unit adjacent thereto.
The joint unit includes outline border connection frame, inside casing connection frame, sliding sleeve, tie rod and corresponding fastening nut,
It is a round tube in the middle part of inside casing connection frame, tube ends are respectively equipped with the ring flange that 20 ° are tilted to opposite direction, two methods
Symmetrical a pair of U-shaped ear mount with holes, and the U-shaped ear in two adjacent joint units are equipped in the opposite one side of blue disk
Seat offsets one from another 30 degree on position dimension along inside casing connection frame central axes, and two ring flanges of inside casing connection frame are equipped with circumferential direction
Three groups of uniformly distributed connecting holes, this three groups of connecting holes are in pairs；Outline border connection frame is equipped with three groups of circumferential connecting holes set, often
Four holes of group, and it is at an angle to each other；It is begun to crop up the connection linked in inside casing connection frame by elbow bend and spheroidal one end of tie rod
In hole, the other end is fixed in the connecting hole of outline border connection frame by screw thread on tie rod and fastening nut, the outline border
It sets on the inside of connection frame there are three the cable-through hole being arranged circumferentially, sliding sleeve, and adjacent two joint unit is installed in cable-through hole
Between uniformly distributed three springs, the both ends of spring are against the ear that two adjacent joint unit outline border connection frames have cable-through hole respectively
It on seat and covers on the outer of sliding sleeve, the axis of each spring is overlapped with the axis of cable-through hole.
The one side of the inside casing connection frame for the joint unit connecting with end effector is equipped with ring flange with threaded hole.
The terminal pad, outline border connection frame, inside casing connection frame are aluminum alloy material, and tie rod and fastening nut are stainless
Steel material, sliding sleeve are brass material, and driving rope is high strength wire rope.
The basic principle that the present invention moves is: the rotation of some motor drives driving rope tightening, other two motor is suitable
When loosen driving rope or certain two motor drives driving ropes tightening, another motor loosens driving rope, can also
Driving rope is tightened simultaneously with three motors, the bending of flexible mechanical arm space multiple directions may be implemented.Three drives of control simultaneously
The folding and unfolding length of running rope rope can control the soft or hard degree of Bei Shen mechanism, can Shi Bei body mechanism keep current pose or from
By sagging.
The invention has the following advantages over the prior art:
Arm body light weight, load is big, and mobility is good, not only ensure that the flexibility of flexible mechanical arm, but also the flexible machine of extension
The use scope of tool arm.
Detailed description of the invention
Fig. 1 is three-dimensional simplified schematic diagram of the invention.
Fig. 2 is the simplified schematic diagram of terminal pad of the present invention.
Fig. 3 is the simplified schematic diagram of joint unit of the invention.
Fig. 4 is inside casing connecting frame structure simplified schematic diagram of the invention.
Fig. 5 is the connection signal schematic diagram of two adjacent joint units of the present invention.
Fig. 6 is the joint unit simplified schematic diagram that the present invention is connect with end effector.
In figure: 1- drives rope, 2- machine base outer shell, 3- power supply, 4- control unit, 5- motor, 6- terminal pad, 7- arm body machine
Structure, 8- end effector, 9- outline border connection frame, 10- inside casing connection frame, 11- tie rod, 12- fastening nut, 13- sliding sleeve, 14- ten
The inside casing connection frame that word axis, 15- spring, 16- and end effector connect.
Specific embodiment
In spoke type flexible mechanical arm schematic diagram based on rope driving shown in Fig. 1, motor 5, power supply 3 and control unit
Part 4 is fixed in machine base outer shell 2；Bei Shen mechanism 7 is connected in series by several groups joint unit by cross-garnet butt, Bei Shen mechanism
One end is fixed on base by terminal pad 6, and the other end is connect with end effector 8, and driving rope 1 is circumferentially uniformly distributed three
Root, one end of every rope are fixed on arm body mechanism end, and the other end sequentially passes through the cable-through hole point of each joint unit
It is not connected on the idler wheel of 3 motors in base；As shown in Fig. 2, the terminal pad is the ring flange with unthreaded hole, with base
The one side of connection is plane, and another side is equipped with a U-shaped ear mount with holes, to connect joint unit adjacent thereto.
As shown in Figure 3, Figure 4, joint unit includes outline border connection frame, inside casing connection frame, sliding sleeve, tie rod and corresponding tight
Gu nut, is a round tube in the middle part of inside casing connection frame 10, tube ends are respectively equipped with the flange that 20 ° are tilted to opposite direction
Disk is equipped with symmetrical one U-shaped ear mount with holes, and two adjacent joint units in the opposite one side of two ring flanges
On U-shaped ear mount offset one from another 30 degree on position dimension along inside casing connection frame central axes, two ring flanges of inside casing connection frame
Three groups of circumferentially uniformly distributed connecting holes are equipped with, in pairs, outline border connection frame 9 is equipped with three groups and circumferentially sets this three groups of connecting holes
Connecting hole, every group of four holes, and at an angle to each other, one end of tie rod 11 is begun to crop up by elbow bend and spheroidal to be linked in inside casing
In the connecting hole of connection frame, the other end is fixed on the connecting hole of outline border connection frame by screw thread on tie rod and fastening nut 12
It is interior, it is set on the inside of the described outline border connection frame there are three the cable-through hole being arranged circumferentially, sliding sleeve 13 is installed in cable-through hole.
As shown in figure 5, passing through cross axle 14 for two adjacent U on the inside casing connection frame of every two adjacent joint unit
The connection of type ear mount, constitutes cross pair, makes have two-freedom movement between every two joint unit.It is uniformly distributed between two joint unit
Three springs 15 play a supportive role, and the both ends of spring are against two adjacent joint unit outline border connection frames with cable-through hole respectively
Ear mount on and cover on the outer of sliding sleeve, the axis of each spring is overlapped with the axis of cable-through hole.
As shown in fig. 6, the one side of the inside casing connection frame 16 for the joint unit connecting with end effector is equipped with threaded
The ring flange in hole.
The terminal pad, outline border connection frame, inside casing connection frame are aluminum alloy material, and tie rod and fastening nut are stainless
Steel material, sliding sleeve are brass material, and driving rope is high strength wire rope.
Claims (2)
1. a kind of spoke type flexible mechanical arm based on rope driving, it includes base, Bei Shen mechanism, end effector and driving
Rope, wherein base includes that machine base outer shell, 3 motors, power supply and control unit, motor, power supply and control unit are fixed on machine
In seat shell, it is characterised in that: the Bei Shen mechanism is connected in series by several groups joint unit by cross-garnet butt, Bei Shen mechanism
One end be fixed on base by terminal pad, the other end is connect with end effector, for grabbing target object；Driving rope
Rope is circumferentially uniformly distributed three, and one end of every rope is fixed on arm body mechanism end, and the other end sequentially passes through each pass
The cable-through hole of section unit is connected on the idler wheel of 3 motors in base；The terminal pad is the ring flange with unthreaded hole,
The one side connecting with base is plane, and another side is equipped with a U-shaped ear mount with holes, single to connect joint adjacent thereto
Member；
The joint unit includes outline border connection frame, inside casing connection frame, sliding sleeve, tie rod and corresponding fastening nut, inside casing
It is a round tube in the middle part of connection frame, tube ends are respectively equipped with the ring flange that 20 ° are tilted to opposite direction, two ring flanges
Symmetrical a pair of U-shaped ear mount with holes is equipped in opposite one side, and the U-shaped ear mount in two adjacent joint units exists
It offsets one from another 30 degree on position dimension along inside casing connection frame central axes, two ring flanges of inside casing connection frame are equipped with circumferential uniformly distributed
Three groups of connecting holes, this three groups of connecting holes are in pairs；The connecting holes that outline border connection frame is circumferentially set equipped with three groups, every group four
A hole, and it is at an angle to each other；One end of tie rod is begun to crop up by elbow bend and spheroidal and is linked in the connecting hole of inside casing connection frame,
Its other end is fixed in the connecting hole of outline border connection frame by screw thread on tie rod and fastening nut, the outline border connection frame
Inside is set there are three the cable-through hole that is arranged circumferentially, is equipped with sliding sleeve in cable-through hole, and between adjacent two joint unit
Three springs of cloth, the both ends of spring are against two adjacent joint unit outline border connection frames respectively and have in the ear mount of cable-through hole simultaneously
It covers on the outer of sliding sleeve, the axis of each spring is overlapped with the axis of cable-through hole；The joint being connect with end effector
The one side of the inside casing connection frame of unit is equipped with ring flange with threaded hole.
2. the spoke type flexible mechanical arm according to claim 1 based on rope driving, it is characterised in that: the connection
Disk, outline border connection frame, inside casing connection frame are aluminum alloy material, and tie rod and fastening nut are stainless steel material, and sliding sleeve is brass
Material, driving rope are wirerope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611123104.7A CN106514703B (en) | 2016-12-08 | 2016-12-08 | Spoke type flexible mechanical arm based on rope driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611123104.7A CN106514703B (en) | 2016-12-08 | 2016-12-08 | Spoke type flexible mechanical arm based on rope driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106514703A CN106514703A (en) | 2017-03-22 |
| CN106514703B true CN106514703B (en) | 2019-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611123104.7A Active CN106514703B (en) | 2016-12-08 | 2016-12-08 | Spoke type flexible mechanical arm based on rope driving |
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| CN107139170B (en) * | 2017-06-15 | 2023-06-06 | 燕山大学 | Driving device for rope-driven flexible mechanical arm |
| CN107598910B (en) * | 2017-10-17 | 2023-10-13 | 燕山大学 | Tendon-driven variable-scale continuous robot |
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| CN108177160B (en) * | 2017-12-29 | 2019-12-31 | 哈尔滨工业大学深圳研究生院 | Linkage joint group and mechanical arm capable of realizing continuous equal-curvature bending |
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| CN113894840B (en) * | 2021-11-18 | 2022-12-23 | 南京航空航天大学 | Rope-driven flexible mechanical arm |
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