CN108326891A - A kind of decoupling mechanism and its decoupling method of rope driving joint of mechanical arm - Google Patents
A kind of decoupling mechanism and its decoupling method of rope driving joint of mechanical arm Download PDFInfo
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- CN108326891A CN108326891A CN201810225645.3A CN201810225645A CN108326891A CN 108326891 A CN108326891 A CN 108326891A CN 201810225645 A CN201810225645 A CN 201810225645A CN 108326891 A CN108326891 A CN 108326891A
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- rope
- leading block
- decoupling
- joint
- rear end
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- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims abstract description 59
- 230000007704 transition Effects 0.000 claims abstract description 29
- 210000000245 forearm Anatomy 0.000 claims abstract description 12
- 230000008859 change Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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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- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of decoupling mechanisms and decoupling method of rope driving joint of mechanical arm, in the decoupling mechanism, driving wheel and decoupling rope driving wheel are connected with joint link lever, sliding slot limitation skid beam on mechanical arm forearm moves up and down, diameter using the transition wheel of rear end joint drive rope is decouple rope driving wheel diameter twice, and the displacement of skid beam is the 1/2 of rear end joint drive rope end displacement when realizing current joint rotation.In this way, rear end joint drive rope end displacement is just cancelled out each other with rear end joint drive rope end displacement caused by the moving up and down of skid beam because caused by rotating current joint.Driving rope after decoupling mechanism and between joint link lever without relative displacement, to realize the mobile decoupling between front and back joint.The decoupling mechanism of the present invention can be operated within the scope of 0 ° to 300 °, and working range is big, simple in structure, compact, increased transition wheel and corresponding leading block number, can be decoupled more rear end joints.
Description
Technical field
The present invention relates to the decoupling mechanisms and its decoupling of Mechanical Driven field more particularly to a kind of rope driving joint of mechanical arm
Method.
Background technology
Driver motor is mostly directly installed on joint by tradition machinery arm, this make the volume mass of mechanical arm it is big,
Rotary inertia is big, complicated, load is conducted oneself with dignity than low.
Rope actuation techniques remotely transmit movement and power using rope, realize the control to articulation, it is thus possible to will be complete
The driving unit in portion is mounted on pedestal.Since fly rope is very light, and driving unit is external, so the structure of mechanical arm obtains
Prodigious simplification, quality and rotary inertia and volume are obtained for and significantly reduce, to having well solved tradition
Mechanical arm there are the problem of, but also bring the coupled problem between joint simultaneously.
In rope drives series connection mechanical arm, since the rotation in front end joint can cause the rear end joint across front end joint to be driven
The variation of running rope rope twining amount on transition wheel, to generate an additional movement, i.e., the fortune in two joints to rear end joint
It is dynamic not independent.
The decoupling method for being directed to this coupling at present mainly has using control algolithm progress active decoupling and design decoupling machine
Structure carry out decoupling two kinds, algorithm decoupling can increasing with joint, complexity can greatly increase, and front end joint is back
Turn joint, the movement coupling between front and back joint is nonlinear, is also just difficult to carry out active decoupling by control algolithm；It adopts
With lasso structure, there is no movement couplings, but it is sliding friction to drive between rope and lasso trick, and not only frictional force is big, and deposits
It is difficult to ensure in the control accuracy of the nonlinear characteristics such as dead zone, gap, sluggishness, mechanical arm.
Invention content
To solve the problems, such as that existing decoupling method exists, the present invention provides a kind of rope driving decoupling mechanisms to be driven with solving rope
Movement coupled problem between each joint of dynamic series connection mechanical arm, the decoupling mechanism is simple and reliable for structure, and working range is big, frictional force
It is small.
The technical scheme is that：
A kind of decoupling mechanism of rope driving joint of mechanical arm, the mechanical arm configuration include：Forearm, postbrachium, be arranged side by side and
Two locating rods one that are fixedly connected with postbrachium, be fixedly connected with forearm in pairs, the locating rod two that is arranged side by side and positioning
Bar three and individually locating rod four；
The decoupling mechanism includes leading block group five, transition wheel, decoupled components, leading block group three and rear end joint drive rope
Rope, the transition wheel include at least transition wheel one, and it is left that the rear end joint drive rope includes at least rear end joint drive rope
Section and right section of rear end joint drive rope；
The leading block group five is sleeved in the locating rod one by leading block five and is formed, and covers at least one on every a positioning rod one
A leading block five, the leading block five include at least the first leading block five and the second leading block five；
The decoupled components include successively from top to bottom：Decouple component one, leading block group four, decoupling component two, leading block
Group one；
The decoupling component one is fixedly connected sequentially and is being closed by driving wheel, decoupling rope driving wheel one and decoupling rope driving wheel two
It is formed on section connecting rod；
The transition wheel one is sleeved on the joint link lever, and is driven in the decoupling rope driving wheel one and the decoupling rope
Between wheel two；
The leading block group four is sleeved in the locating rod two by leading block four and is formed, and covers at least three on every a positioning rod two
A leading block four, the leading block four include at least：First leading block four, the second leading block four, third, which are oriented to, to be slided
Take turns the four, the 4th leading block four, the 5th leading block four and the 6th leading block four；
The decoupling component two is made of the displacement compensation device one and displacement compensation device two being arranged side by side, the bit shift compensation
Device one is connected in turn in skid beam one by fixed block one, at least one leading block two and fixed block three and is formed, the displacement
Compensation device two is connected in turn in skid beam two by fixed block two, at least one leading block two and fixed block four and is formed, described
Leading block two includes at least the first leading block two and the second leading block two；
Two sliding slots opened on the forearm move up and down for limiting corresponding skid beam；
The leading block group one is sequentially sleeved in group in the locating rod four by the first leading block one and the second leading block one
At；
The decoupled components further include decoupling rope, and the decoupling rope includes decoupling rope one and decoupling rope two；
The epimere of the decoupling rope one is around the decoupling rope driving wheel one, first leading block four and described second
Leading block four is fixed on the upper surface of the fixed block one and the fixed block two, and the epimere of the decoupling rope two bypasses institute
It states decoupling rope driving wheel two, the 5th leading block four and the 6th leading block four and is fixed on three and of the fixed block
The hypomere of the upper surface of the fixed block four, the decoupling rope one is fixed on the fixation around first leading block one
The hypomere of the lower surface of block one and the fixed block two, the decoupling rope two is fixed on institute around second leading block one
State the lower surface of fixed block three and the fixed block four so that the skid beam one and the skid beam two are solely subjected to moment of flexure work when work
With preventing skid beam one and skid beam two from turning on one's side；
The leading block group three is sleeved in the locating rod three by leading block three and is formed, and covers at least one on every a positioning rod three
A leading block three, the leading block three include at least the first leading block three and the second leading block three；
Two locating rod three is located on the outside of the decoupled components, above the skid beam one and the skid beam two, both sides each one；
The rear end joint drive rope includes left section of rear end joint drive rope and right section of rear end joint drive rope, after described
The lower end of left section of the joint drive rope in end is connected with rear end joint driver, bypasses described first clockwise upwards later and is oriented to cunning
Three 180 ° of commutation of wheel, the first leading block two bypassed counterclockwise still further below in the skid beam one commutate 180 °, lead to then up
Cross the driving wheel phase with rear end joint after the third leading block four, the transition wheel one and first leading block five
Even；
The lower end of right section of the rear end joint drive rope is connected with rear end joint driver, first bypasses institute counterclockwise upwards later
It states the second leading block three to commutate 180 °, bypasses the second leading block two commutation in the skid beam two clockwise again downwards
It 180 °, is then passed upwardly through after the 4th leading block four, the transition wheel one and second leading block five with after
The driving wheel in joint is held to be connected；
Current joint drives rope connection driving wheel and current joint driver.
Further, the race diameter of the transition wheel one is the decoupling rope driving wheel one and the decoupling rope
2 times of two race diameter of driving wheel.
A kind of decoupling method of rope driving joint of mechanical arm decoupling mechanism, the race diameter using transition wheel are decoupling ropes
2 times of driving wheel race diameter realize that the change in displacement rate of skid beam one and skid beam two is rear end joint drive rope end displacement
The 1/2 of change rate wr, i.e. wr/2, wherein w is the rotational angular velocity of current joint connecting rod, and r is the wheel groove radius of transition wheel；
Due to decoupling rope one and decouple rope two and two skid beams connection function, no matter current joint connecting rod be rotating forward or instead
Turn, can realize two stable and accurate displacement of leading block；
The end of rear end left section of upper end of joint drive rope is by the position of generation+wr caused by being rotated counterclockwise by current joint connecting rod
It moves, the end of rear end right section of upper end of joint drive rope is by the displacement of generation-wr, wherein to be closed by rear end along rope direction
It is just to save driver and be directed toward joint direction；Skid beam one moves down, and skid beam two moves up, and is drawn by skid beam one and the movement of skid beam two
The end for the rear end left section of upper end of joint drive rope risen is by the displacement of generation -2wr/2, right section of upper end of rear end joint drive rope
End by the displacement of generation+2wr/2, wherein to be directed toward joint direction by rear end joint driver along rope direction be just；
Front and back displacement realization is cancelled out each other, i.e., no matter driving wheel drives how current joint connecting rod rotates, after decoupling joint
It holds between left section of joint drive rope and the end and current joint connecting rod of right section of rear end joint drive rope without relative displacement；
When current joint driver drives driving wheel is rotated clockwise with angular speed w, current joint connecting rod rotates clockwise, after
Hold the end of left section of upper end of joint drive rope by the displacement of generation-wr, the end of right section of upper end of rear end joint drive rope will
The displacement of generation+wr, wherein to be directed toward joint direction by rear end joint driver as just along rope direction；Skid beam one is upward
Mobile, skid beam two moves down, the end of rear end left section of upper end of joint drive rope caused by being moved by skid beam one and skid beam two
By the displacement of generation+2wr/2, the end of rear end right section of upper end of joint drive rope is by the displacement of generation -2wr/2, wherein with edge
It is just rope direction and be directed toward joint direction by rear end joint driver；No matter actively, front and back displacement realization is cancelled out each other, i.e.,
Wheel drives how current joint connecting rod rotates, by left section of the rear end joint drive rope and rear end joint drive rope that decouple joint
Without relative displacement between the end that right section of rope and current joint connecting rod, to realize interarticular mobile decoupling.
The present invention is beneficial in that compared with the prior art：
1, the movement passive de-coupling of joint drive rope may be implemented in the decoupling joint of rope driving mechanical arm, due to that need not use
It actively decouples, simplifies the control algolithm of mechanical arm；
2, the present invention uses the driving form of cable-pulley, and frictional force is small, avoids the big friction of lasso trick driving, dead zone and slow
The non-linear drives characteristic such as stagnant；
3, the decoupling mechanism can be operated within the scope of 0~300 °, and working range is big, and increase transition wheel and corresponding guiding cunning
Wheel number can decouple multiple interarticular movement couplings, simple in structure, reliably.
Description of the drawings
Fig. 1 is the overall structure figure of the rope driving mechanical arm decoupling mechanism of the present invention；
Fig. 2 is the decoupled components figure of the present invention；
Fig. 3 is the rear end joint drive rope trace-diagram of the present invention；
Fig. 4 is the displacement compensation device structure chart of the present invention；
Fig. 5 is the current joint driving rope trace-diagram of the present invention；
Fig. 6 is the front and back mechanical arm connection type figure of the present invention；
Figure label title：1- locating rods one；2- locating rods two；3- locating rods three；4- locating rods four；5- joint link levers；61- is solved
Coupling rope driving wheel one；62- decouples rope driving wheel two；7- driving wheels；81- transition wheels one；91- skid beams one；92- skid beams two；
101- fixed blocks one；102- fixed blocks two；103- fixed blocks three；104- fixed blocks four；The rear ends 11- joint drive rope；111-
Left section of rear end joint drive rope；Right section of the rear ends 112- joint drive rope；The first leading blocks of 121- one；122- second is oriented to
Pulley one；The first leading blocks of 131- two；The second leading blocks of 132- two；The first leading blocks of 141- three；142- second is oriented to
Pulley three；The first leading blocks of 151- four；The second leading blocks of 152- four；153- thirds leading block four；154- the 4th is oriented to
Pulley four；The 5th leading blocks four of 155-；The 6th leading blocks four of 156-；The first leading blocks of 161- five；162- second is oriented to
Pulley five；15- current joints drive rope；16- decouples rope one；17- decouples rope two；18- forearms；19- postbrachiums；20- is slided
Slot；201- current joint drivers；The rear ends 202- joint driver.
Specific implementation mode
Attached drawing discloses structural schematic diagram involved in the present invention and being preferably implemented without limitation, below with reference to attached drawing
Explain technical scheme of the present invention in detail.
The decoupling mechanism of the rope driving joint of mechanical arm of the present invention as shown in Figure 1, mechanical arm configuration include：Forearm 18,
Postbrachium 19, two locating rods 1 for being arranged side by side and being fixedly connected with postbrachium 19, be fixedly connected with forearm 18 in pairs, simultaneously
The locating rod 22 set and the locating rod 33 of arranging and individually locating rod 44；
Forearm 18 is connect with postbrachium 19 by joint link lever 5, and joint connection 5 drives postbrachium 19 to rotate when rotating, as shown in Figure 6；
The decoupling mechanism includes：Leading block group five, transition wheel 1, decoupled components, leading block group three and rear end joint
Drive rope 11；The leading block group five is sleeved in locating rod 1 by leading block five and is formed, and is covered on every a positioning rod 1
One leading block five, the leading block five include the first leading block 5 161 and the second leading block 5 162；
The decoupled components are as shown in Fig. 2, include successively from top to bottom：Decouple component one, leading block group four, decoupling component
Two, leading block group one；
The decoupling component one is by driving wheel 7, decoupling rope driving wheel 1 and decoupling rope driving wheel 2 62 successively fixed company
It is connected on joint link lever 5 and forms；
Transition wheel 1 is sleeved on joint link lever 5, is between decoupling rope driving wheel 1 and decoupling rope driving wheel 2 62,
Wherein, the race diameter of transition wheel 81 is decouple 2 62 race diameter of rope driving wheel 1 and decoupling rope driving wheel 2 times,
See Fig. 1；
The leading block group four is sleeved in locating rod 22 by leading block four and is formed, three guiding of set on every a positioning rod 22
Pulley four, the leading block four include：First leading block 4 151, the second leading block 4 152, third leading block four
153, the 4th leading block 4 154, the 5th leading block 4 155 and the 6th leading block 4 156；
Decoupling component two as shown in Figure 4 is made of, institute the displacement compensation device one and displacement compensation device two that are arranged side by side
It states displacement compensation device one and skid beam one is connected in turn by fixed block 1, the first leading block 2 131 and fixed block 3 103
It is formed on 91, the displacement compensation device two is connected successively by fixed block 2 102, the second leading block 2 132 and fixed block 4 104
It is connected in skid beam 2 92 and forms；
Two sliding slots 20 are machined on forearm 18 for limiting skid beam 1 and skid beam 2 92 moves up and down；
The leading block group one is sequentially sleeved in by the first leading block 1 and the second leading block 1 in locating rod 44
Composition；
Joint link lever 5, locating rod 22 and locating rod 44 are arranged in order from top to bottom, and skid beam 1 and skid beam 2 92 are located at positioning
Between bar 22 and locating rod 44；
The decoupled components further include decoupling rope, and the decoupling rope includes decoupling rope 1 and decoupling rope 2 17；
The epimere of rope 1 is decoupled around decoupling rope driving wheel 1, the first leading block 4 151 and the second leading block
4 152 are fixed on the upper surface of fixed block 1 and fixed block 2 102, and the epimere of decoupling rope 2 117 drives around decoupling rope
Driving wheel 2 62, the 5th leading block 4 155 and the 6th leading block 4 156 are fixed on fixed block 3 103 and fixed block 4 104
The hypomere of upper surface, decoupling rope 1 is fixed on fixed block 1 and fixed block 2 102 around the first leading block 1
Lower surface, decoupling rope 2 17 hypomere be fixed on fixed block 3 103 and fixed block four around the second leading block 1
104 lower surface, so at work, two skid beams are solely subjected to Moment, can prevent to turn on one's side；
The leading block group three is sleeved in locating rod 33 by leading block three and is formed, one guiding of set on every a positioning rod 33
Pulley three, the leading block three include the first leading block 3 141 and the second leading block 3 142；
Two locating rods 33 are located at 2 92 top of outside, skid beam 1 and skid beam of the decoupled components, both sides each one；
As shown in Figure 1,3, rear end joint drive rope 11 includes left section 111 of rear end joint drive rope and rear end joint drive rope
Right section of 112 two parts of rope, the lower end that left section 111 of rear end joint drive rope are connected with rear end joint driver 202, later upwards
It commutates 180 ° around the first leading block 3 141 clockwise, still further below counterclockwise around the first leading block in skid beam 1
2 131 180 ° of commutations, be then passed upwardly through after third leading block 4 153, transition wheel 81 and the first leading block 5 161 with
The driving wheel in rear end joint is connected；
The lower end that right section 112 of rear end joint drive rope is connected with rear end joint driver 202, first bypasses counterclockwise upwards later
Second leading block 3 142 commutates 180 °, downwards again clockwise around the second leading block 2 132 commutation in skid beam 2 92
It 180 °, is then passed upwardly through after the 4th leading block 4 154, transition wheel 81 and the second leading block 5 162 and rear end joint
Driving wheel be connected；
Current joint drives rope 15 to connect driving wheel 7 and current joint driver 201, as shown in Figure 5.
The rope of the present invention drives the decoupling method of joint of mechanical arm decoupling mechanism, is using the race diameter of transition wheel 1
2 times of 2 62 race diameter of decoupling rope driving wheel 1 and decoupling rope driving wheel, realization skid beam 1 and skid beam 2 92
Change in displacement rate is the 1/2 of 11 tip displacement change rate wr of rear end joint drive rope, i.e. wr/2, wherein w is that current joint connects
The rotational angular velocity of bar 5, r are the wheel groove radius of transition wheel 1；
Due to the connection function of decoupling rope 1 and decoupling rope 2 17 and two skid beams, no matter current joint connecting rod 5 is to rotate forward
Or it inverts, can realize two stable and accurate displacement of leading block；
When current joint driver 201 drives driving wheel 7 to be rotated counterclockwise with angular speed w, current joint connecting rod 5 turns counterclockwise
Dynamic, the ends of rear end left section of 111 upper ends of joint drive rope is by the displacement of generation+wr, on right section 112 of rear end joint drive rope
The end at end is by the displacement of generation-wr, wherein is to be directed toward joint direction by rear end joint driver 202 along rope direction
Just；Skid beam 1 moves down, and skid beam 2 92 moves up, and rear end joint is driven caused by skid beam 1 and the movement of skid beam 2 92
By the displacement of generation -2wr/2, the end of right section of 112 upper ends of rear end joint drive rope will for the end of 111 upper end of running rope Suo Zuo sections
The displacement of generation+2wr/2, wherein to be directed toward joint direction by rear end joint driver 202 as just along rope direction；It is front and back
Displacement realization cancel out each other, i.e., no matter driving wheel 7 drives how current joint connecting rod 5 rotates, by the rear end for decoupling joint
Without opposite position between left section 111 of joint drive rope and the end and current joint connecting rod 5 of right section 112 of rear end joint drive rope
It moves, i.e., rear end joint drive rope 11 does not generate movement relative to rear end joint because current joint rotates；
When current joint driver 201 drives driving wheel 7 to be rotated clockwise with angular speed w, current joint connecting rod 5 turns clockwise
Dynamic, the ends of rear end left section of 111 upper ends of joint drive rope is by the displacement of generation-wr, on right section 112 of rear end joint drive rope
The end at end is by the displacement of generation+wr, wherein is to be directed toward joint direction by rear end joint driver 202 along rope direction
Just；Skid beam 1 moves up, and skid beam 2 92 moves down, and rear end joint is driven caused by skid beam 1 and the movement of skid beam 2 92
111 end of running rope Suo Zuo sections is by the displacement of generation+2wr/2, and joint drive rope right section of 112 ends in rear end are by generation -2wr/2's
Displacement, wherein to be directed toward joint direction by rear end joint driver 202 as just along rope direction；Phase is realized in front and back displacement
It mutually offsets, i.e., no matter driving wheel 7 drives how current joint connecting rod 5 rotates, by the rear end joint drive rope for decoupling joint
It is closed without relative displacement, i.e. rear end between left section 111 and the end and current joint connecting rod 5 of right section 112 of rear end joint drive rope
Section driving rope 11 does not generate movement relative to rear end joint, their end and current joint because current joint rotates
Connecting rod realizes the mobile decoupling between current joint and rear end joint without relative movement.
It should be pointed out that the present invention can decouple more rear ends by increasing transition wheel and corresponding leading block
Joint, the foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, all spirit and original in the present invention
Within then, any modification, equivalent substitution, improvement and etc. done should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of decoupling mechanism of rope driving joint of mechanical arm, which is characterized in that the mechanical arm configuration includes：Forearm
（18）, postbrachium（19）, be arranged side by side and and postbrachium（19）Two locating rods one being fixedly connected（1）With forearm（18）It is fixedly connected
In pairs, the locating rod two that is arranged side by side（2）With locating rod three（3）And individual locating rod four（4）；
The decoupling mechanism includes：Leading block group five, transition wheel one（81）, decoupled components, leading block group three and rear end close
Section driving rope（11）；
The leading block group five is sleeved on locating rod one by leading block five（1）Upper composition, per a positioning rod one（1）Above cover one
Leading block five, the leading block five include the first leading block five（161）With the second leading block five（162）；
The decoupled components include successively from top to bottom：Decouple component one, leading block group four, decoupling component two and leading block
Group one；
The decoupling component one is by driving wheel（7）, decoupling rope driving wheel one（61）With decoupling rope driving wheel two（62）Successively
It is fixedly connected on joint link lever（5）Upper composition；
Transition wheel one（81）It is sleeved on joint link lever（5）On, and in decoupling rope driving wheel one（61）With decoupling rope driving wheel
Two（62）Between；
The leading block group four is sleeved on locating rod two by leading block four（2）Upper composition, per a positioning rod two（2）Above cover three
Leading block four, the leading block four include：First leading block four（151）, the second leading block four（152）, third leads
To pulley four（153）, the 4th leading block four（154）, the 5th leading block four（155）With the 6th leading block four（156）；
The decoupling component two is made of the displacement compensation device one and displacement compensation device two being arranged side by side, the bit shift compensation
Device one is by fixed block one（101）, the first leading block two（131）With fixed block three（103）It is connected to skid beam one in turn（91）
Upper composition, the displacement compensation device two is by fixed block two（102）, the second leading block two（132）With fixed block four（104）According to
It is secondary to be connected to skid beam two（92）Upper composition；
Forearm（18）On be machined with two sliding slots（20）It moves up and down for limiting corresponding skid beam；
The leading block group one is by the first leading block one（121）With the second leading block one（122）It is sequentially sleeved in locating rod
Four（4）Upper composition；
The decoupled components further include decoupling rope, and the decoupling rope includes decoupling rope one（16）With decoupling rope two
（17）；
Decouple rope one（16）Epimere around decoupling rope driving wheel one（61）, the first leading block four（151）It is led with second
To pulley four（152）It is fixed on fixed block one（101）With fixed block two（102）Upper surface, decouple rope two（17）Epimere
Around decoupling rope driving wheel two（62）, the 5th leading block four（155）With the 6th leading block four（156）It is fixed on fixed block
Three（103）With fixed block four（104）Upper surface, decouple rope one（16）Hypomere bypass the first leading block one（121）Gu
It is scheduled on fixed block one（101）With fixed block two（102）Lower surface, decouple rope two（17）Hypomere bypass the second leading block
One（122）It is fixed on fixed block three（103）With fixed block four（104）Lower surface；
The leading block group three is sleeved on locating rod three by leading block three（3）Upper composition, per a positioning rod three（3）Above cover one
Leading block three, the leading block three include the first leading block three（141）With the second leading block three（142）；
Two locating rods three（3）On the outside of the decoupled components, skid beam one（91）With skid beam two（92）Top, both sides each one；
Rear end joint drive rope（11）Including left section of rear end joint drive rope（111）With right section of rear end joint drive rope
（112）；Left section of rear end joint drive rope（111）Lower end and rear end joint driver（202）It is connected, later upwards clockwise
Around the first leading block three（141）180 ° of commutation bypasses skid beam one counterclockwise still further below（91）On the first leading block two
（131）180 ° of commutation, is then passed upwardly through third leading block four（153）, transition wheel one（81）And first leading block five
（161）It is connected afterwards with the driving wheel in rear end joint；
Right section of rear end joint drive rope（112）Lower end and rear end joint driver（202）It is connected, it is first counterclockwise upwards later
Around the second leading block three（142）180 ° of commutation bypasses downwards skid beam two clockwise again（92）On the second leading block two
（132）180 ° of commutation, is then passed upwardly through the 4th leading block four（154）, transition wheel one（81）And second leading block five
（162）It is connected afterwards with the driving wheel in rear end joint；
Current joint drives rope（15）Connect driving wheel（7）With current joint driver（201）.
2. a kind of decoupling mechanism of rope driving joint of mechanical arm according to claim 1, which is characterized in that transition wheel one
（81）Race diameter be decoupling rope driving wheel one（61）With decoupling rope driving wheel two（62）2 times of race diameter.
3. a kind of decoupling method of rope driving joint of mechanical arm decoupling mechanism, which is characterized in that
Utilize transition wheel one（81）Race diameter be decoupling rope driving wheel one（61）With decoupling rope driving wheel two（62）Wheel
2 times of slot diameter realize skid beam one（91）With skid beam two（92）Change in displacement rate be rear end joint drive rope（11）End
The 1/2 of change in displacement rate wr, i.e. wr/2, wherein w is current joint connecting rod（5）Rotational angular velocity, r be transition wheel one（81）
Wheel groove radius；
Due to decoupling rope one（16）With decoupling rope two（17）With being fixedly connected for two skid beams, no matter current joint connecting rod（5）
It is to rotate forward or invert, can realizes two stable and accurate displacement of leading block；
By current joint connecting rod（5）Left section of rear end joint drive rope caused by rotating counterclockwise（111）The end of upper end will produce
The displacement of raw+wr, right section of rear end joint drive rope（112）The end of upper end is by the displacement of generation-wr, wherein with along rope
Suo Fangxiang is by rear end joint driver（202）It is just to be directed toward joint direction；Skid beam one（91）It moves down, skid beam two（92）Upwards
It is mobile, by skid beam one（91）With skid beam two（92）Left section of rear end joint drive rope caused by mobile（111）It the end of upper end will
The displacement of generation -2wr/2, right section of rear end joint drive rope（112）The end of upper end is by the displacement of generation+2wr/2, wherein
With along rope direction by rear end joint driver（202）It is just to be directed toward joint direction；Front and back displacement realization is cancelled out each other, i.e.,
No matter driving wheel（7）Drive current joint connecting rod（5）How to rotate, by left section of rear end joint drive rope for decoupling joint
（111）With right section of rear end joint drive rope（112）End and current joint connecting rod（5）Between without relative displacement；
When current joint driver（201）Drive driving wheel（7）When being rotated clockwise with angular speed w, current joint connecting rod（5）It is suitable
Hour hands rotate, left section of rear end joint drive rope（111）The end of upper end is by the displacement of generation-wr, rear end joint drive rope
Right section（112）The end of upper end is by the displacement of generation+wr, wherein with along rope direction by rear end joint driver（202）Refer to
It is just to joint direction；Skid beam one（91）It moves up, skid beam two（92）It moves down, by skid beam one（91）With skid beam two（92）
Left section of rear end joint drive rope caused by mobile（111）The end of upper end is by the displacement of generation+2wr/2, rear end joint drive
Right section of rope（112）The end of upper end is by the displacement of generation -2wr/2, wherein with along rope direction by rear end joint driver
（202）It is just to be directed toward joint direction；Front and back displacement realization is cancelled out each other, i.e., no matter driving wheel（7）Drive current joint connecting rod
（5）How to rotate, by left section of rear end joint drive rope for decoupling joint（111）With right section of rear end joint drive rope
（112）End and current joint connecting rod（5）Between without relative displacement, to realize front and back interarticular mobile decoupling.
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| CN112440272A (en) * | 2020-11-11 | 2021-03-05 | 浙江理工大学 | Rope-driven mechanical arm capable of realizing motion decoupling |
| CN112847424A (en) * | 2020-12-24 | 2021-05-28 | 中国科学技术大学 | Rigidity amplification rope-driven single-degree-of-freedom joint |
| CN114310860A (en) * | 2021-12-31 | 2022-04-12 | 北京市商汤科技开发有限公司 | Get son device and robot of playing chess |
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