CN107914284B - Rotary joint mechanical arm gravity compensation mechanism - Google Patents
Rotary joint mechanical arm gravity compensation mechanism Download PDFInfo
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- CN107914284B CN107914284B CN201711093230.7A CN201711093230A CN107914284B CN 107914284 B CN107914284 B CN 107914284B CN 201711093230 A CN201711093230 A CN 201711093230A CN 107914284 B CN107914284 B CN 107914284B
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- 230000005484 gravity Effects 0.000 title claims abstract description 57
- 230000007246 mechanism Effects 0.000 title claims abstract description 38
- 239000004809 Teflon Substances 0.000 description 3
- 229920006362 Teflon® Polymers 0.000 description 3
- 238000004146 energy storage Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 102100030499 Chorion-specific transcription factor GCMa Human genes 0.000 description 1
- 102100030496 Chorion-specific transcription factor GCMb Human genes 0.000 description 1
- 101000862639 Homo sapiens Chorion-specific transcription factor GCMa Proteins 0.000 description 1
- 101000862623 Homo sapiens Chorion-specific transcription factor GCMb Proteins 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 231100000817 safety factor Toxicity 0.000 description 1
- 239000000725 suspension 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
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a gravity compensation mechanism of a rotary joint mechanical arm, which comprises a frame, a non-circular gear planetary gear train and a flat spiral spring, wherein the frame comprises a fixed rod at the outer end of the flat spiral spring, the non-circular gear planetary gear train comprises a tie rod, a planet shaft, a rotating shaft, a fixed circular sun gear, a planetary circular gear, a non-circular sun gear and a planetary non-circular gear, the circular sun gear is fixed on the frame through a flange, the tie rod is sleeved with the planet shaft, two ends of the planet shaft are respectively connected with the planetary circular gear and the planetary non-circular gear, the planetary circular gear is meshed with the fixed circular sun gear, the planetary non-circular gear is meshed with the rotating non-circular sun gear, the rotating shaft rotates along with the non-circular sun gear, the inner end of the flat spiral spring is connected with the rotating shaft through a pin, the outer end of the flat spiral spring is connected with the fixed rod of the frame, the tie rod is an, the invention has simple structure, stable and reliable motion, high gravity compensation precision and is suitable for continuous swing mechanism.
Description
Technical Field
The invention relates to the fields of industrial robots, rehabilitation medical robots, service robots and the like, in particular to a gravity compensation mechanism.
Background
In the design of a robot system, for a mechanical arm with a joint axis parallel to the ground, due to the gravity of the mechanical arm, extra torque is generated at the joint, the dynamic characteristic of the mechanical arm is reduced to a certain extent, and under the condition that a braking system fails, no other self-locking device exists, the mechanical arm falls under the action of gravity, and the safety of operators or other devices is seriously threatened.
Currently, there are two gravity compensation methods: firstly, the control means is utilized to drive the motor to carry out active torque compensation, the rotation angle of the mechanical arm needs to be measured in real time, and the controller drives the motor to output torque in the opposite direction in real time. Theoretically, the method can realize complete gravity compensation of the mechanical arm, but the control algorithm is quite complex; and secondly, the energy storage device is utilized to perform passive torque compensation, the gravity compensation device is driven to move through the mechanical arm joint, the gravity compensation device outputs torque opposite to gravity, and the passive gravity compensation only needs to be provided with a gravity compensation mechanism and does not consume redundant energy.
The existing passive gravity compensation mechanisms, such as: the suspension tension spring type structure, the parallel four-bar mechanism, the tension spring structure and the like can not meet the nonlinear change of the gravity moment, so that only approximate compensation can be performed; the cam tension spring type structure has higher compensation precision, but the cam mechanism is in point and line contact, the abrasion is larger, the cam stroke is smaller, and the compensation range is not very large; further, patent publication No. CN 104245250a discloses a gravity compensation mechanism with a pair of non-circular gears and a tension spring, and gravity compensation is performed on a robot arm with a high degree of freedom, the gravity moment of the robot arm with the axis of the rotary joint parallel to the ground varies according to a sinusoidal law, and the engagement of the pair of non-circular gears cannot realize a function varying according to an accurate sinusoidal law, so that the gravity compensation is also approximate.
In conclusion, in the fields of industrial robots, rehabilitation robots, service robots and the like, the good gravity compensation device can effectively reduce joint driving torque and improve safety factors.
Disclosure of Invention
The invention aims to provide a gravity compensation mechanism of a rotary joint mechanical arm, which has higher compensation precision and can continuously rotate.
In order to achieve the purpose, the invention adopts the following technical scheme:
a gravity compensation mechanism of a rotary joint mechanical arm comprises a rack, a non-circular gear planetary gear train and a flat spiral spring, wherein the rack consists of a rack A and a rack B, the rack B is welded with a fixing rod at the outer end of the flat spiral spring, and the rack A and the rack B are connected together through a bolt; the non-circular gear planetary gear train is a non-circular gear planetary gear train with a fixed center distance and comprises a tie rod, a planetary shaft, a rotating shaft, a circular sun gear, a planetary circular gear, a non-circular sun gear and a planetary non-circular gear; one end of the tie bar, which penetrates through a central through hole of the round sun gear 4, is connected with the rack A through a first rotating joint, and the other end of the tie bar is sleeved with the planet shaft through a sliding bearing; the circular sun wheel is fixed on the rack A through a flange; the two ends of the planet shaft are respectively connected with a planet circular gear and a planet non-circular gear in a key mode, the planet circular gear is meshed with the circular sun gear, and the planet non-circular gear is meshed with the non-circular sun gear; the planetary circular gear on the planetary shaft rotates and revolves around the circular sun gear, and the planetary non-circular gear drives the non-circular sun gear to rotate; the non-circular sun gear is connected with the rotating shaft key; the outer end of the flat spiral spring is fixed on a fixing rod of the frame B, and the inner end of the flat spiral spring is fixedly connected with the rotating shaft through a pin; the rotating shaft is connected with the rack B through a third rotating joint.
When the gravity compensation mechanism is used, one end of the tie rod is used as the input of the gravity compensation mechanism and rotates along with the rotary joint mechanical arm, the planetary circular gear on the planetary shaft rotates and revolves around the circular sun gear, and the planetary non-circular gear drives the non-circular sun gear to rotate; the rotation of the non-circular sun gear makes the rotating shaft rotate, and the rotating shaft makes the planar spiral spring twist in the rotating process to generate a counter-balance moment, so that the gravity moment is balanced.
Compared with the prior gravity compensation technology, the invention has the following advantages: the passive gravity compensation avoids the input of extra energy, can effectively improve the compensation precision from the viewpoint of function reproduction, can realize the gravity compensation of the planar multi-degree-of-freedom mechanical arm in any reachable working space, can solve the problem of limited rotation angle range, and effectively avoids structural interference. The invention has simple structure, stable and reliable motion and high gravity compensation precision, and is suitable for a continuous swing mechanism.
Drawings
FIG. 1 shows a perspective view of the present invention;
FIG. 2 shows a block diagram of the present invention;
FIG. 3 is a schematic view of a flat spiral spring mounting;
FIG. 4 shows a schematic view of the gravity compensation mechanism;
FIG. 5 illustrates the gravity compensated simplified model;
fig. 6A is a first explanatory view of the gravity compensation mechanism and the robot;
FIG. 6B is a second explanatory view of the gravity compensation mechanism and the robot;
fig. 6C is a third explanatory view of the gravity compensation mechanism and the robot;
FIG. 6D is a fourth explanatory view of the gravity compensation mechanism and the robot;
fig. 6E is a fifth explanatory view of the gravity compensation mechanism and the robot;
fig. 6F is a sixth explanatory view of the gravity compensation mechanism and the robot.
Reference numbers in the figures: 1-frame A, 2-flange, 3-end cap A, 4-round sun gear, 5-screw, 6-bearing A, 7-tie rod, 8-elastic retainer ring A, 9-planetary shaft, 10-key A, 11-planetary circular gear, 12-elastic retainer ring B, 13-Teflon sliding bearing, 14-bolt, 15-gasket, 16-nut, 17-planetary non-circular gear, 18-key B, 19-elastic retainer ring C, 20-rotating shaft, 21-plane volute spring, 22-fixed rod, 23-bearing B, 24-end cap B, 25-elastic retainer ring D, 26-key C, 27-non-round sun gear, 28-frame B, 29-tie rod A, 30-tie rod B, 31-tie rod C, 32-small arm, 33-large arm, 34-robot base, 35-taper pin, L, U rotation axis, F ground.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments:
the invention discloses a gravity compensation mechanism of a rotary joint mechanical arm, which comprises a frame, a non-circular gear planetary gear train and a flat spiral spring 21, wherein the frame consists of two parts, namely a frame A1 and a frame B28, the frame B28 is welded with an outer end fixing rod 22 of the flat spiral spring, and the frame A1 and the frame B28 are fixedly connected together through a bolt 14, a gasket 15 and a nut 16; the non-circular gear planetary gear train is a non-circular gear planetary gear train with a fixed center distance and comprises a tie rod 7, a planetary shaft 9, a rotating shaft 20, a circular sun gear 4, a planetary circular gear 11, a non-circular sun gear 27 and a planetary non-circular gear 17; the circular sun gear 4 is fixed on the flange 2 by a screw 5 and is fixed on the frame A1 through the flange 2; one end of the tie rod 7 penetrating through a central through hole of the round sun gear 4 is connected with a frame A1 through a bearing A6, and an end cover A3 is fixed on the frame A1 through bolts outside the frame A1; the other end of the tie rod 7 is sleeved with the planet shaft 9 through a Teflon sliding bearing 13, and two ends of the Teflon sliding bearing 13 are positioned through elastic check rings B12; the two ends of the planet shaft 9 are respectively connected with the planet circular gear 11 through a key A10 and the planet non-circular gear 17 through a key B18; one end of the planet circular gear 11 is fixed with the planet shaft 9 through a shaft shoulder, the other end of the planet circular gear 11 is fixed through an elastic retainer ring A8, and the planet circular gear 11 is meshed with the circular sun gear 4; one end of the planet non-circular gear 17 is fixed with the planet shaft 9 through a shaft shoulder, the other end of the planet non-circular gear is fixed through an elastic retainer ring C19, and the planet non-circular gear 17 is meshed with the non-circular sun gear 27; the planetary circular gear 11 on the planetary shaft 9 rotates and revolves around the circular sun gear 4, and the planetary non-circular gear 17 drives the non-circular sun gear 27 to rotate; the non-circular sun gear 27 is fixedly connected with the rotating shaft 20 through a key C26, a shaft shoulder at one end of the non-circular sun gear 27 is fixed with the rotating shaft 20, and the other end of the non-circular sun gear is fixed by an elastic retainer ring D25; as shown in fig. 3, the outer end of the spiral spring 21 is fixed on the fixing rod 22 of the frame B28, and the inner end is fixedly connected with the rotating shaft 20 through the pin 35; the rotating shaft 20 is connected with a frame B through a bearing B, and an end cover B24 is fixed on the frame B28 through bolts outside the frame B28.
As shown in fig. 4, one end of the tie bar 7 is used as an input of the gravity compensation mechanism, the other end is sleeved with a planet shaft 9, the planet shaft 9 is respectively connected with the planet circular gear 11 and the planet non-circular gear 17, wherein the circular sun gear 4 is fixed, the tie bar 7 drives the planet circular gear 11 and the planet non-circular gear 17 to rotate around the fixed circular sun gear 4 and the rotating non-circular sun gear 27, and the motion is output through the rotating sun gear, namely the rotating shaft 20 outputs a rotation angle, so that the spiral spring 21 is twisted, a torque is generated, and the gravity compensation is completed.
As shown in fig. 5, in the simplified model for gravity compensation of the plane 1R mechanism, an energy storage spring is arranged at the joint o, a point C is a position of a center of mass of the connecting rod, q is an included angle between the gravity direction and the rod length direction, and when the joint rotates by an angle q, the energy storage spring deforms correspondingly, so that gravity compensation is completed.
Example 1: gravity compensation for parallel four-bar 2R mechanical arm
As shown in fig. 6A, the 2R robot arm includes: 33 big arm, 32 small arm, 29 connecting rod A, 30 connecting rod B and 31 connecting rod C of the four-bar mechanism.
One end of the robot boom 33 is rotatable about a rotation axis L parallel to the ground F. One end of the small arm 32 is provided at the front end of the large arm 33, and the small arm 32 is rotatable about a rotation axis U parallel to the rotation axis L. The connecting rods A and C of the four-bar mechanism are always parallel to the small arm 32, and the connecting rod B is always parallel to the large arm 33.
As shown in fig. 6B, the initial positions of the large arm 33 and the small arm 32 are shown by solid lines, and the broken lines are the positions after the movement, and the initial positions are free state without torque of the spiral spring 21.
The gravity compensation of the 2R mechanical arm is divided into two parts, as shown in fig. 6C, the gravity compensation of the first part: the gravity compensation mechanism ZLBC1 connected to the large arm 33, as shown in fig. 6E, performs the second part of gravity compensation: and a gravity compensation mechanism ZLBC2 connected with the four-bar mechanism connecting rod A.
If the mass of the four-bar mechanism is neglected, as shown in fig. 6D, the length of the large arm 33 is l1Mass is m1A rotation angle q with respect to the initial position1(ii) a The small arm 32 has a length l2Mass is m2At a rotation angle of q1+q2。
As shown in fig. 6B, the weight m of the small arm 322g is simplified from the position of the mass center to the joint of the big arm 33 and the small arm 32 (namely, at the position of the U axis), and a force m is obtained2g and a moment of 0.5m2gl2sin(q1+q2)。
As shown in FIG. 6C, this force and the weight of the large arm 33 are compensated by the gravity compensation mechanism ZLBC1 (M)GCM1＝-τGq1＝-(m1g/2+m2g)l1sinq1). This moment is compensated by the gravity compensation mechanism ZLBC2 (M)GCM2＝-τGq12＝-m2gl2sin(q1+q2))
As shown in fig. 6F, the tie bar 7 of the gravity compensation mechanism ZLBC1 is connected to the large arm 33 at the rotation axis L, the rotation of the large arm 33 is used as the input of the tie bar of the non-circular planetary gear train, the non-circular sun gear 27 drives the rotation axis 20 to rotate, the spiral volute spring 21 is twisted and deformed, so as to generate a counter-balance moment, and the first partial gravity compensation is realized.
The tie bar of the gravity compensation mechanism ZLBC2 is connected with the connecting rod A of the four-bar mechanism at a rotating shaft L, the rotation of the connecting rod A of the four-bar mechanism is used as the input of the tie bar of the non-circular gear planetary gear train, the non-circular sun gear drives the rotating shaft of the non-circular sun gear to rotate, and the flat spiral spring is subjected to torsional deformation, so that counter-balance moment is generated, and the second part of gravity compensation is realized.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (1)
1. The utility model provides a rotation joint arm gravity compensation mechanism which characterized in that: the planetary gear train comprises a rack, a non-circular gear planetary gear train and a flat spiral spring, wherein the rack consists of a rack A and a rack B, the rack B is welded with a fixing rod at the outer end of the flat spiral spring, and the rack A and the rack B are connected together through a bolt; the non-circular gear planetary gear train is a non-circular gear planetary gear train with a fixed center distance and comprises a tie rod, a planetary shaft, a rotating shaft, a circular sun gear, a planetary circular gear, a non-circular sun gear and a planetary non-circular gear; one end of the tie bar, which penetrates through a central through hole of the round sun gear, is connected with the rack A through a first rotating joint, and the other end of the tie bar is sleeved with the planet shaft through a sliding bearing; the circular sun wheel is fixed on the rack A through a flange; the two ends of the planet shaft are respectively connected with a planet circular gear and a planet non-circular gear in a key mode, the planet circular gear is meshed with the circular sun gear, and the planet non-circular gear is meshed with the non-circular sun gear; the planetary circular gear on the planetary shaft rotates and revolves around the circular sun gear, and the planetary non-circular gear drives the non-circular sun gear to rotate; the non-circular sun gear is connected with the rotating shaft key; the outer end of the flat spiral spring is fixed on a fixing rod of the frame B, and the inner end of the flat spiral spring is fixedly connected with the rotating shaft through a pin; the rotating shaft is connected with the rack B through a third rotating joint.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711093230.7A CN107914284B (en) | 2017-11-08 | 2017-11-08 | Rotary joint mechanical arm gravity compensation mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711093230.7A CN107914284B (en) | 2017-11-08 | 2017-11-08 | Rotary joint mechanical arm gravity compensation mechanism |
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| CN107914284A CN107914284A (en) | 2018-04-17 |
| CN107914284B true CN107914284B (en) | 2021-03-19 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397277B (en) * | 2018-10-22 | 2022-05-06 | 北京卡雷尔机器人技术有限公司 | Energy-saving and labor-saving mechanism for mechanical arm |
| CN110953306B (en) * | 2019-12-17 | 2021-06-18 | 清华大学 | Non-linear spring mechanism based on non-circular planetary gear |
| CN111322353B (en) * | 2020-02-06 | 2021-11-19 | 中国电子科技集团公司第二十九研究所 | Configurable torque-adjustable gravity balance device |
| CN113081290B (en) * | 2021-04-15 | 2022-06-24 | 诺创智能医疗科技(杭州)有限公司 | Control method, controller, system, electronic device and medium for surgical robot |
| CN113173215B (en) * | 2021-04-21 | 2023-04-28 | 昆明理工大学 | Energy storage mechanical arm for obstacle surmounting climbing robot and obstacle surmounting climbing robot |
| CN113459078B (en) * | 2021-06-28 | 2024-04-19 | 安徽工程大学 | Non-circular gear joint robot and design method thereof |
| CN114893738B (en) * | 2022-07-13 | 2022-12-02 | 惠州市沃生照明有限公司 | Automatic balance energy-saving ceiling lamp with height capable of being adjusted in stepless mode |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55106787A (en) * | 1979-02-05 | 1980-08-15 | Hitachi Ltd | Device for balancing gravity |
| AU2003260275A1 (en) * | 2002-08-23 | 2004-03-19 | Hubertus Boehm | Weight compensation system for devices with axes of rotation |
| DE102007023847B4 (en) * | 2007-05-23 | 2011-12-08 | Siemens Ag | shoulder joint |
| CN100544902C (en) * | 2007-08-29 | 2009-09-30 | 哈尔滨工业大学 | Spacing mechanical arm perpendicular style modularization joint |
| CN104245250A (en) * | 2012-04-24 | 2014-12-24 | 株式会社安川电机 | Gravity compensation mechanism and robot |
| KR101437767B1 (en) * | 2013-02-27 | 2014-09-11 | 고려대학교 산학협력단 | Geared type gravity compensating unit |
| CN206105897U (en) * | 2016-08-29 | 2017-04-19 | 上海政怡智能科技有限公司 | Full balance mechanism of cluster and series -parallel connection decoupling zero type pile up neatly machine people |
| CN108214480A (en) * | 2016-12-12 | 2018-06-29 | 赵德政 | A kind of compensation mechanical arm driving device of energy storage |
| CN107081749A (en) * | 2017-06-20 | 2017-08-22 | 黄保书 | Using for energy storage medium the system and device and method of torque are provided to overcome mechanical arm to conduct oneself with dignity |
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