CN108942906A - flexible mechanical arm and system - Google Patents
flexible mechanical arm and system Download PDFInfo
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- CN108942906A CN108942906A CN201810863901.1A CN201810863901A CN108942906A CN 108942906 A CN108942906 A CN 108942906A CN 201810863901 A CN201810863901 A CN 201810863901A CN 108942906 A CN108942906 A CN 108942906A
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- linkage
- armed lever
- mechanical arm
- joint segments
- rope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
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Abstract
The present invention proposes a kind of flexible mechanical arm, including multi arm bar joint section and corresponding central block, and each armed lever joint segments are connected by rotational coupling mechanism with central block, forms a unit of armed lever main body, and multiple units form armed lever main body；Further include linkage rope, is connected between alternate arm bar joint section and between adjacent center block by linkage rope to realize and link, the linkage rope at least part is S-shaped.The stress of the unit-modularized mode of this programme and linkage rope linkage process, more reasonable compared with prior art, linkage precision is higher.
Description
Technical field
The present invention relates to a kind of flexible mechanical arms, are especially able to achieve the flexible mechanical of double freedom iso-curvature bending linkage
Arm, and the system being made of the flexible mechanical arm.
Background technique
It is different from traditional joint tandem type mechanical arm, flexible mechanical arm has many advantages, such as that flexibility ratio is high, obstacle avoidance ability is strong,
Movement and operational capacity are strong in small space and complex environment, in fields such as aerospace manufacture, Large-Scale Equipment detection maintenances
With important application value.In the prior art, each joint junction of flexible mechanical arm is independent driving, though it can be with
Improve the redundancy of whole arm, but also will increase driving motor number accordingly, cause the control difficulty of flexible arm, weight and at
This increase.
To solve the problems, such as that driving motor number is more, currently existing scheme is to increase elastic element between joint, one
Section arm is controlled as a control unit, or is directly controlled using elastic material as arm matrix, realizes class circle
Arc blow movement.For shape and circular arc during such mechanical arm actual motion there are deviation, end precision is not high, it is difficult to full
Sufficient demand.
Be as shown in Figure 1 a, 1 b the prior art 1 one kind be based on gear-driven iso-curvature bent mechanical arm, one
Large bevel gear by with pin interference or key cooperation and be mounted in rotating bracket, one be engaged with the large bevel gear it is small
Bevel gear is fitted to the one end of transmission shaft at universal joint with transmission shaft interference or key, large bevel gear and small bevel gear
The crosspoint of wheel center line is located at the center of rotation of the universal joint.The technology has the disadvantages that
Disadvantage one: gear drive takes up space larger, influences the applicable scene of flexible arm.
Disadvantage two: for big cone pinion on two rotary freedom directions, the angle rotated is the tooth of big cone pinion
Number ratio.So that flexible arm locomitivity is restricted: can only realize the movement on one degree of freedom direction, limit flexible mechanical
The ability to work of arm.
If Fig. 2 a Fig. 2 b, Fig. 2 c, Fig. 2 d, Fig. 2 e are a kind of flexible arm cooperating joint sections of the prior art two, including it is short
Running rope, long linkage rope and the first end joint being sequentially connected in series, the first center knuckle, the second center knuckle, third center are closed
Section and the 4th center knuckle, and from first end joint to the 4th center knuckle, first end is successively arranged between adjacent segment
Connector, the first central connector, the second central connector and third central connector, wherein first end joint and first
End coupling is affixed；Along first direction.The both ends of first center knuckle connect respectively at the second end connector, the first center
Fitting rotation connection；The both ends of third center knuckle are rotatablely connected respectively at the second central connector, third central connector；
Between the both ends of second center knuckle and the first central connector, the second central connector and the 4th center knuckle and third
It is relatively fixed between central connector；Between first end connector and the first central connector and the second central connector
It is connect by short linkage rope between third connector, is passed through between first end connector and third central connector respectively
Long linkage rope connection, so as to can occur between adjacent segment along first direction from first end joint to the 4th center knuckle
In the same direction and current flow angle degree rotation.Identical two freedom degrees pass through two to axis direction always on each connecting rod two end central block
Cross winding is coupled at the stainless steel ropes of " 8 " font, realizes that the coupling of opposite direction rotates synchronously.End center block
By the rope and (opposite) the stainless steel cable by cross winding at " 8 " font of intermediate central block apart from each other that pass through hose
Rope coupling, the other end central block are coupled with intermediate central block, and then are realized each between pitching, yaw freedom on whole section of arm
From coupling, the transmission arm section with two-freedom is eventually become.Remote interlocking rope is reversely pushed up hose by adjusting nut
Tightly, so realize distal end rope tensioning.The technology has the drawback that
Disadvantage one: the quantity of program arm section articulated arm is necessary for 4 multiple, is not easy to matching for armed lever intrinsic articulation segment number
It sets.
Disadvantage two: program medium-long range linkage rope is in linkage process, since pitching, yaw angle can be to remote interlocking ropes
Shape have an impact.And then influence the effect of linkage.
Disadvantage three: the remote interlocking rope in the program greatly occupies armed lever inner space, influences armed lever scheme end
The cabling of executing agency's cable is held, and then is unfavorable for the practical application of the program.
Disadvantage four: program medium-long range linkage rope causes cable pre- since during the motion, shape can be deformed
The variation of clamp force, so as to cause the normal pressure variation between arm section articulated arm and central block.And " 8 " font of its opposite side is not
Rust steel ropes pretightning force can be considered definite value.Thus in caused armed lever motion process, unbalance loading caused by two sides normal pressure is different,
Also the precision that armed lever angularly links is influenced whether.Precision is integrally controlled to reduce armed lever.
Summary of the invention
The problem to be solved in the present invention is: propose one kind be more convenient for engineer application, linkage the reliable flexible arm of effect stability,
Realize iso-curvature bending linkage.
For this purpose, flexible mechanical arm proposed by the invention includes multi arm bar joint section and corresponding central block, each armed lever
Joint segments are connected by rotational coupling mechanism with central block, and a unit of armed lever main body is formed, and multiple units form armed lever master
Body；Further include linkage rope, is connected between alternate arm bar joint section and between adjacent center block by linkage rope to realize and join
Dynamic, the linkage rope at least part is S-shaped.
Preferably, can also include such as feature in the embodiment of the present invention:
The linkage rope is half S-shaped that one end has arc, and arc one end is another around on the rolling fin of a central block
End locking kills on adjacent another central block.
The linkage rope of two and half S-shapeds is separately connected adjacent two central block, and is arranged symmetrically on the opposite sides in two central block.
Linkage rope band semaphore joint segments realize in the linkage rotated around y-axis, wherein y-axis direction be perpendicular to
One direction of armed lever joint segments axial direction.
The linkage is that isogonism links.
The linkage rope is the S-shaped that both ends all have arc section, and joint segments, which have, picks up the ears, and picks up the ears above have land portions,
One end arc section of the linkage rope and a joint segments pick up the ears on spherical surface it is tangent, which is tightly attached on joint segments pick up the ears
Spherical surface on, other end arc section and adjacent segment section pick up the ears on spherical surface it is tangent, which is tightly attached to another joint segments
It picks up the ears on spherical surface.
The linkage rope of two S-shapeds is separately connected adjacent two joint section, and is arranged symmetrically on the opposite sides in the two joint section.
Linkage rope band semaphore joint segments realize in the linkage rotated around x-axis, wherein x-axis direction be perpendicular to
One direction of armed lever joint segments axial direction.
The linkage is that isogonism links.
Multiple interlocking module flexible mechanical arm systems in series.
The present invention also proposes a kind of flexible mechanical arm system, including sequentially connected driving cable traction device, mechanical arm
And end-of-arm tooling, it is characterised in that: the mechanical arm uses flexible mechanical arm above-mentioned.
After adopting the above technical scheme, the present invention has the advantage that the unit-modularized mode and linkage rope of this programme
The stress of linkage process, more reasonable compared with prior art, linkage precision is higher.
Further, the preferred solution of the invention has the further advantage that
Joint segment number can be with arbitrary disposition, by modes such as the length of each joint segments armed lever of reset, so that originally
Scheme is more convenient flexible when practical engineering application designs；
Armed lever component part number of species greatly reduce compared with prior art, it is easier to industrialization；
Largely retain armed lever central space, for electric power cable, signal cable needed for walking end-of-arm tooling, and
Tracheae needed for optical fiber laser improves the diversity and its ability to work of armed lever end-of-arm tooling.
Detailed description of the invention
Fig. 1 a, 1b are one schematic diagrames of the prior art.
Fig. 2 a-2e is two schematic diagram of the prior art.
Fig. 3 is overall structure and linkage effect diagram of the invention.
Fig. 4 a, 4b are that armed lever main body of the embodiment of the present invention constitutes schematic diagram.
Fig. 5 a-5e is one schematic diagram of linkage rope embodiment of the present invention.
Fig. 6 a-6f is two schematic diagram of linkage rope embodiment of the present invention.
Fig. 7 is interlocking module schematic diagram of the embodiment of the present invention.
Fig. 8 a, 8b are the multiple interlocking module series connection schematic diagrames of the present invention.
Fig. 9 a, 9b, 9c, 9d are mechanical arm system structural schematic diagrams of the embodiment of the present invention.
Specific embodiment
Flexible arm in following examples of the invention mainly includes multi arm bar joint section and corresponding linkage rope, is also wrapped
Central block is included, armed lever joint segments are connected by rotational coupling mechanism with central block, and a unit of armed lever main body is formed, multiple
Unit forms armed lever main body.Armed lever main body, linkage rope and its linkage are introduced separately below.
1, armed lever main body is constituted
As shown in Fig. 4 a, 4b, two of armed lever joint segments 11 pick up the ears after being connected with central block 21, by 312,314 points of pin shaft
It does not pick up the ears to be pressed by armed lever joint segments two, realizes the relative rotation of joint segments and central block.Wherein pin shaft is formed by two sections, and one
Section is that cylindrical surface and central block constitute rotary gemel.Another section is " D-shaped " structure and the slot for being provided with a depth 1mm in the middle
Road.Pin shaft " D-shaped " section is embedded into the picking up the ears of joint segments 11, conduit pick up the ears with joint segments on conduit be aligned." D-shaped " structure
Prevent pin shaft from relatively rotating with armed lever joint segments, it is ensured that the conduit of picking up the ears always with armed lever of the notch conduit on pin shaft is aligned.
Similarly, armed lever joint segments 12 are connected by rotating pin 311,313 with central block 21, form a list of armed lever main structure
Member.
2, linkage rope implementation one: " small S " shape linkage rope
In the present embodiment, linkage rope is divided into two classes, and one type is " small S " shape linkage rope, composition such as Fig. 5 a-5e, figure
In the hex head screw perforated centered on 41, which can be such that wirerope extends there through.51 be the steel wire of one section of bulb that presses
Rope, the bulb diameter are greater than 41 center-hole diameter, the sexangular head diameter less than 41.61 be interior hexagonal holding screw, and being used to will
The free end of wirerope is connected on central block.
Specific installation is implemented such as Fig. 5 b (concealing armed lever joint segments 12 in Fig. 5 b), during 41 band central block screws are mounted on
In the threaded hole c1 of heart block.Then, wirerope 51 in band centre bore screw 41 after passing through, the rolling fin along central block 22
A1, after the through-hole in armed lever joint segments, around on the rolling fin a2 of central block 21.Tense wire rope makes its bulb b1
It is dead with 41 patches.Then on central block 21, wirerope 51 is killed by two lockings of holding screw 61.Again by extra steel
Cord is cut.Since rope can only transmit pulling force, it is arranged symmetrically on the opposite sides as shown in Fig. 5 a, 5b, 5d, 5e in central block
Wirerope 52, composition, installation are identical as wirerope 51.
As fig 5d, when armed lever joint segments 11 drive central block 21, around y1 axis (pin shaft 311 and the coaxial structure of pin shaft 313
At revolute pair) rotate clockwise when, under the traction of wirerope 51, make armed lever joint segments 13 drive central block 22, around y2
Axis (revolute pair that pin shaft 321 is coaxially constituted with pin shaft 323) rotates counterclockwise.Similarly, when armed lever joint segments 11 drive center
Block 21 when rotating counterclockwise around y1 axis, under the traction of wirerope 52, makes armed lever joint segments 13 drive central block 22 and pin
Axis 34 is rotated clockwise around y2 axis.It is thereby achieved that armed lever joint segments are in the linkage rotated around y-axis.Its isogonism that links
Degree is described as follows:
As depicted in fig. 5e, central block is simplified, substitutes rolling fin with circle.As the rolling fin a2 of central block 21
θ is rotated clockwise using vertical screen direction as rotary shaft1When, wirerope 51 follows the rotation of disk a2, the rope wound on disk
Long amount increases θ1The corresponding arc length on disk a2.When the pretightning force of wirerope is much larger than articulation torque, it is believed that
Length of steel rope is constant during interlocking with the rotation.Meanwhile two disc centre away from remaining unchanged.Wirerope 51 is led central block 22
The length variable quantity and θ shortened to disk a1 winding1Corresponding arc length is equal on disk a2.Again because of two disk diameters
It is identical, therefore the angle, θ that rolling fin a1 is rotated on central block 222=θ1.Rolling fin directly processes on central block
Part feature, therefore central block 21 and central block 22 realize equal angular rotation under the transmission of " small S " shape linkage rope.
By torque spanner by the screw 41 with centre bore toward outside threaded hole direction twist when, screw 41 will drive bulb to
The movement of rope stretch direction, increases the pretightning force on wirerope.It is measured and is filled by the method for adjustment combination steel wire rope tension
It sets, it is ensured that wirerope 51 is identical as 52 tension of wirerope.And realize the adjustable purpose of wirerope pretightning force.
3, the two of linkage rope: " Spherical Surface S " shape linkage rope
The composition of " Spherical Surface S " shape linkage rope: as shown in Fig. 6 a-6f, 71,72 be the hex head screw with centre bore (with 41
It is similar)；81,82 wirerope for one end with the bulb that presses；91,92 be that (material is unlimited, it is desirable that moves and rubs with wirerope for steel bushing
It is small to wipe coefficient)；101,102 be copper sheathing, and 111,112 be interior hexagonal holding screw；121, the 122 countersunk head spiral shell to perforate on screw rod
Nail, 131,132 be gasket, and 141,142 be hex nut.
One group of " Spherical Surface S " shape linkage rope is made of two wirerope and its correlated parts, hereafter only selects one to install it
It is illustrated.Such as Fig. 6 c, the hex head screw 71 with centre bore is mounted in the m1 threaded hole of armed lever joint segments 13；The screw thread
Hole m1 is made of both ends, is threaded hole close to 71 sides, is unthreaded hole close to the side of central block 22.Steel then with bulb n1
Cord 81 passes through the centre bore of screw 71；It is tangent by the spherical surface m2 on the picking up the ears of the unthreaded hole section of m1 and armed lever joint segments 12；Again
By pin shaft 321 " D-shaped " section conduit, after the steel bushing 91 of m3 half slot for being embedded in joint segments 12, it is close to arm along steel bushing 91
The cylinder outer wall of bar joint section 12, in the negative direction of y1 axis.
In order to facilitate observation of, the armed lever visual angle in Fig. 6 c is centainly adjusted, as shown in fig 6d.The both ends of steel bushing 91, one
Section is embedded in the m3 of armed lever joint segments 12, and another section is embedded in the m4 of armed lever joint segments 12.Steel of the wirerope 81 from m4
After being pierced by set 91, into the h2 conduit of the m5 slot, pin shaft 313 crossed in armed lever joint segments, then the m6 ball via armed lever joint segments 12
Behind face, with tangential way transition.The m7 unthreaded hole of armed lever joint segments 11 is penetrated, protection copper sheathing 101 is embedded in m7 unthreaded hole.Wirerope
It after 81 pass through m7, is passed through from the hole on 121 screw rod of sunk screw, completes the threading process of wirerope 81.Wirerope is then straightened
81, gasket 131 and nut 141 are installed, wirerope 81 is compressed；Interior hexagonal holding screw 111 is screwed into from side again.It completes
The assembly of piece " spherical surface s " linkage rope.At this point it is possible to adjust steel in such a way that constant torque wrench back-outs hex head screw 71
Pretightning force in cord 81.In the same way, wirerope 82 is installed in opposite side.Complete the peace of one group of " spherical surface s " linkage rope
Dress.
" Spherical Surface S " shape linkage rope principle is illustrated: abstract and simplification being carried out to Fig. 6 e and obtains Fig. 6 f.In Fig. 6 f
Coordinate system O1-x1-y1 is constructed, x1 axis crosses O1 point, and vertical view faces outwardly as x1 axis positive direction；Coordinate system O2-x2-y2, x2 axis mistake
O2 point, vertical view face outwardly as x2 axis positive direction.Such as both ends of figure wirerope 81, one section is connected in armed lever joint segments 13, passes through
After two spherical surfaces of picking up the ears of armed lever joint segments 12, steel bushing 91, another section is fixed in armed lever joint segments 11.Obviously, bulb-D2,
End-D1 is static fixing end, is not considered when principle illustrates；P2- hose-P1 be fixed configuration active segment, the section due to
Steel bushing 91 and the length of cable wherein passed through are tightly attached on the interlude of armed lever 12 under the action of pretightning force, and shape will not be sent out
It is raw to change.It simultaneously will not the raw any influence of distich movable property；Emphasis considers D2-P2 and D1-P1 sections.D2-T2 picks up the ears with joint segments 12
Upper spherical surface m2 is tangent, and T2-P2 is tightly attached to joint segments 12 for arc section and picks up the ears on upper spherical surface m2.Similarly, D1-T1 and joint segments 12
Spherical surface m6 on picking up the ears is tangent, and T1-P1 is tightly attached to joint segments 12 for arc section and picks up the ears on spherical surface m6.
Ganged movement is analyzed, it is assumed that armed lever joint segments 12 remain stationary motionless；When armed lever joint segments 13 are around x2 axis
When rotating clockwise, then armed lever joint segments drive D2 point around O2 point in active view plane internal rotation.Due to wirerope
81 have a pretightning force, therefore D2 sections with spherical surface remain tangent to the upper spherical surface m2 that picks up the ears of joint segments 12.Therefore triangle can be considered as
Shape O2-T2-D2 is rotated around x2 axis, i.e., when armed lever joint segments 13 are rotated clockwise around x2 axis, D2-T2 rope length is constant.Together
Reason, when armed lever joint segments 11 are rotated around x1 axis, T1-D1 length is constant.
The incrementss of arc section rope length are equal to armed lever joint segments 13 around x2 axis rotational angle in joint segments 12 between T2-P2
It picks up the ears corresponding arc length on spherical surface.Again because total rope length is constant, P2-P1 point length is constant, and T1-D1 length is constant.Therefore T1-P1
The amount of Duan Shengchang reduction is equal to it.The armed lever joint segments two corresponding spherical surface m2 that pick up the ears are identical as m6 radius, therefore, isometric
It is identical that the wirerope of degree changes corresponding corner.Also, since m2 and m6 is spherical surface, Fig. 6 e is seen, when armed lever joint segments 13
When rotating together with central block 22 around 321 center line of pin shaft (y2 axis), T2-P2 sections, P2 point is motionless, and T2 point slides on spherical surface, long
Degree remains unchanged.I.e. no matter armed lever joint segments 13 and pin shaft 22 around y2 axis rotate much angles, and armed lever joint segments 13 are suitable around x2 axis
The angle of hour hands rotation can all be transmitted with equal angular, and armed lever joint segments 11 is made to rotate counterclockwise identical angle around x1 axis.
The wirerope 82 of opposite side arrangement may be implemented, and no matter armed lever joint segments 11 and central block 21 are much around the rotation of y1 axis
Angle, armed lever joint segments 13 can be transmitted around the angle that x2 axis rotates counterclockwise with equal angular, make armed lever joint segments 11 around x1 axis
Rotate clockwise identical angle.
4, " small s " linkage rope and " spherical surface s " linkage rope interlocking module
As shown in fig. 7, by interlocking module is formed after " small s " linkage rope and the assembly of " spherical surface s " linkage rope.It will again be assumed that armed lever
Joint segments 12 are stationary.Rotation angle of the armed lever joint segments 13 together with central block 22 around y2 axis equal angular can be transmitted to
Armed lever joint segments 11 are together with central block 21 around the rotation of y1 axis；Armed lever joint segments 13 can also be equal angular around the rotation of x2 axis
Armed lever joint segments 11 are transmitted in the rotation of x1 axis.And the rotational angle around x-axis and between the rotational angle around y-axis, completely
It is independent, realize the decoupling between two freedom degrees.Therefore the solution of the present invention realizes x, the angularly connection of two freedom degrees of y
It is dynamic.
5, multiple interlocking modules mechanical arm system in series
After multiple interlocking module series connection, 120 ° of uniformly distributed 3 drivings ropes, rope one end and driving are filled in armed lever joint segments
Set connected, other end band bulb.As shown in Fig. 8 a, 8b, rack linkage section is fixed on the drive means.
Be apparent from, due in whole section of armed lever, two rotary freedoms of x, y realize it is whole angularly.Therefore, when 3 are driven
When running rope given length, whole section of armed lever has unique corresponding arm shape.In kinematics planning, the principle can use, according to
Required arm shape, reverse go out the length of 3 driving ropes, the movement for realizing armed lever are controlled by driving device.Thus one is constituted
Armed lever section.The armed lever section has 2 freedom degrees by 3 drivings rope Redundant Controls.Flexible Links can also be advised according to movement
Draw the needs of freedom degree, multiple armed lever sections of connecting.
Using the mechanical arm system structure of the method for the present invention as shown in Fig. 9 a, 9b, 9c, 9d, wherein 01 for ball screw and
The cable of linear guide composition is set, and 02 is flexible arm, 03 end-of-arm tooling；02 is made of 5 armed lever sections, and each armed lever section includes 6
A modular joint segments.It is drawn by 3 cables the end of each armed lever section.01 driving device contains 15 linear drives lists altogether
Member.± 16 ° of corner may be implemented in each joint segments on x, y, and (scheme in the invention patent, can satisfy according to reality
The angle of motion planning demand).Upper ± 96 ° of the corner of x, y may be implemented in one big armed lever.5 armed levers in given example
10 freedom degrees of section can be implemented in combination locomitivity in three dimensions.01A be end-of-arm tooling pedestal, k1A be end with
Armed lever junction；02A is end-of-arm tooling box guide rod；03A is rack gear, 04A be end-of-arm tooling box (041A- tool box cover,
042A-PCB plate, 043A- gear, 044A driving motor, 045A-LED, 046A- camera, 047A optical fiber laser)；05A is fixed
Position guiding fork；06A is sunk screw.
The k1A of 01A is connected with armed lever, and 02A, 03A are mounted on 01A, is driven by the stepper motor of end-of-arm tooling box 04A
Dynamic gear 043A realizes end-of-arm tooling box along the translation of guide rod 02A with engaging for rack gear 03A.05A is solid by screw 06A
It is scheduled on 01A.
Functions are explained: armed lever drives end mass motion.Positioning and guiding pitches 05A auxiliary and realizes armed lever positioning.Light
When fibre laser 047A makees cutting operation, driving motor 044A realizes end-of-arm tooling with engaging for 03A rack gear by 043A gear
Box moves integrally, and completes cutting task.
Moreover it is possible to realize illumination, camera function.
The embodiment of the present invention has the advantages that
(1) it is directed to disadvantage one (transmission arm section intrinsic articulation bar quantity can only take 4 or 4 multiple) in prior art two,
In the present invention program, using full modularized joint section, the quantity of transmission arm section intrinsic articulation bar can be configured freely, so that arm
Bar integrally can the joint rotation angle according to required by actual condition, path planning be more flexibly designed.
(2) in prior art two, remote interlocking rope is in linkage process, since pitching, yaw angle can be to remote
The shape of journey linkage rope has an impact；Since the hose of remote interlocking rope and remote interlocking rope is there are relative motion, and the two it
Between there are gaps.Therefore, remote interlocking rope can generate the fluctuation of the power in linkage rope in linkage process, reduce linkage effect
Fruit.And in the present solution, the remote interlocking rope by " Spherical Surface S " the shape linkage rope taken compared to technical solution two is transported in linkage
During dynamic, any change in shape will not be generated.In addition, modularized design makes in motion process in the present invention program
In, it is not in the unbalance loading phenomenon in technical solution two between the cable of each joint segments and the cable of central block opposite side, because of these
Angle linkage process is realized more reliable steady.
(3) it is directed to prior art two, it is radial empty that remote interlocking rope hose fixed form occupies partial joint section
Between, inside joint segments, still there are four hoses to walk；And since in linkage process, remote interlocking rope tube-shape can occur
Change, it is therefore desirable to more radial spaces；In the case of the operating space of relatively narrower, since the end of flexible arm is usual
With the execution sensing equipments such as tool or camera, LED, and in two medium-long range linkage rope of prior art, occupy originally
The radial space current for cable, optical fiber etc..
In the solution of the present invention, under the premise of armed lever outer diameter is identical, " Spherical Surface S " shape linkage rope and technical solution two
Remote interlocking rope compares, and radial space only needs twice of hose outside diameter.And in linkage process, due to " Spherical Surface S " shape linkage rope
Under its cable tension, so that it is tightly attached on armed lever always, any change will not occur for its shape in motion process.Therefore
Walk that there are more spaces for cable in armed lever etc..
(4) two fixations of ipsilateral needs of the stainless steel ropes of " 8 " font in prior art two in central block
Point, so that the disk diameter on central block is restricted in design；And the adjustment of rope pretightning force is placed on joint segments
On, as described in (3), also occupy certain radial space.
And in the present invention program, it is " small using the stainless steel of " 8 " font to be split as being arranged symmetrically in central block two sides
It is unilateral only to need a fixed point after S " shape linkage rope so that under the premise of identical armed lever outer diameter, central block disk it is straight
Diameter can be increased further, due to during tenson drive, when joint transmits identical load torque, and the disk diameter
Bigger, cable is smaller by additional pulling force.Because further improving " small S " shape linkage rope in the scheme that the present invention takes
Transmission accuracy.
(5) further, since central block is spatially less than armed lever joint segments, central block and arm are made full use of in the present invention
Clearance position after the rotation of bar joint section spatially, by the stainless cable of " 8 " font in technical solution two in joint segments
Pre-tightening force adjusting device merges design with the cable fixed point on central block, before additionally not occupying central block dimensional space
It puts, also further saves the radial space of armed lever joint segments.
It is to be illustrated to what the present invention made above, is not considered as limiting the invention.Those skilled in the art
Some deformations can be made under the inspiration of the present invention, belong to protection scope of the present invention.Such as: linkage principle is realized
Deformation be not limited to the example provided, the main body of armed lever constitutes the example for being not limited to provide, and end-of-arm tooling is not limited to provide
Example, etc..
Claims (11)
1. a kind of flexible mechanical arm, it is characterised in that: including multi arm bar joint section and corresponding central block, each armed lever joint segments
It is connected by rotational coupling mechanism with central block, forms a unit of armed lever main body, multiple units forms armed lever main body；Also wrap
It includes linkage rope, is connected between alternate arm bar joint section and between adjacent center block by linkage rope to realize and link, it is described
Running rope at least part is S-shaped.
2. flexible mechanical arm as described in claim 1, it is characterised in that: the linkage rope is half S-shaped that one end has arc,
Around on the rolling fin of a central block, other end locking is killed on adjacent another central block for arc one end.
3. flexible mechanical arm as claimed in claim 2, it is characterised in that: the linkage rope of two and half S-shapeds is separately connected adjacent two
Central block, and be arranged symmetrically on the opposite sides in two central block.
4. flexible mechanical arm as claimed in claim 3, it is characterised in that: the linkage rope band semaphore joint segments are realized
Linkage in y-axis rotation, wherein y-axis direction is a direction perpendicular to armed lever joint segments axial direction.
5. flexible mechanical arm as claimed in claim 3, it is characterised in that: the linkage is that isogonism links.
6. flexible mechanical arm as described in claim 1, it is characterised in that: the linkage rope is the S that both ends all have arc section
Shape, joint segments, which have, picks up the ears, pick up the ears it is upper there are land portions, on one end arc section of the linkage rope and a joint segments are picked up the ears
Spherical surface is tangent, the arc section be tightly attached to joint segments pick up the ears on spherical surface on, on other end arc section and adjacent segment section are picked up the ears
Spherical surface is tangent, which is tightly attached to another joint segments and picks up the ears on spherical surface.
7. flexible mechanical arm as claimed in claim 6, it is characterised in that: the linkage rope of two S-shapeds is separately connected adjacent two and closes
Segment, and be arranged symmetrically on the opposite sides in the two joint section.
8. flexible mechanical arm as claimed in claim 7, it is characterised in that: the linkage rope band semaphore joint segments are realized
Linkage in x-axis rotation, wherein x-axis direction is a direction perpendicular to armed lever joint segments axial direction.
9. flexible mechanical arm as claimed in claim 8, it is characterised in that: the linkage is that isogonism links.
10. flexible mechanical arm as claimed in claim 9, it is characterised in that: multiple interlocking module flexible mechanical arms in series
System.
11. a kind of flexible mechanical arm system, including sequentially connected driving cable traction device, mechanical arm and end-of-arm tooling,
Be characterized in that: the mechanical arm is using the flexible mechanical arm as described in claim 1-10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810863901.1A CN108942906B (en) | 2018-08-01 | 2018-08-01 | Flexible mechanical arm and system assembly |
| PCT/CN2018/104336 WO2020024362A1 (en) | 2018-08-01 | 2018-09-06 | Flexible mechanical arm and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810863901.1A CN108942906B (en) | 2018-08-01 | 2018-08-01 | Flexible mechanical arm and system assembly |
Publications (2)
| Publication Number | Publication Date |
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| CN108942906A true CN108942906A (en) | 2018-12-07 |
| CN108942906B CN108942906B (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810863901.1A Active CN108942906B (en) | 2018-08-01 | 2018-08-01 | Flexible mechanical arm and system assembly |
Country Status (2)
| Country | Link |
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| CN (1) | CN108942906B (en) |
| WO (1) | WO2020024362A1 (en) |
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| CN109773769A (en) * | 2019-02-25 | 2019-05-21 | 清华大学深圳研究生院 | A kind of flexible mechanical arm based on sphere-pin pair |
| CN109848975A (en) * | 2019-02-20 | 2019-06-07 | 哈尔滨工业大学（深圳） | A kind of hybrid serial-parallel mechanism heavy load mechanical arm of rope driving |
| CN111015645A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven continuous flexible mechanical arm |
| CN111633638A (en) * | 2020-05-28 | 2020-09-08 | 东方红卫星移动通信有限公司 | Continuum robot and satellite fuel filling system |
| CN111745684A (en) * | 2020-06-18 | 2020-10-09 | 北京精密机电控制设备研究所 | Under-actuated equal-bending linkage joint group and continuous mechanical arm |
| CN112109111A (en) * | 2020-08-24 | 2020-12-22 | 同济大学 | Three-dimensional mechanical joint, mechanical arm and control method for oblique-section cylindrical connection |
| CN113043270A (en) * | 2021-02-23 | 2021-06-29 | 哈尔滨工业大学（深圳） | Automatic high-precision resetting method of rope-driven flexible mechanical arm based on tooling condition |
| CN113043322A (en) * | 2021-05-13 | 2021-06-29 | 上海大学 | Cable driving device for motion decoupling of rolling joint continuum mechanical arm |
| CN113211422A (en) * | 2021-03-29 | 2021-08-06 | 清华大学 | Equal-curvature linkage mechanical arm |
| CN114872938A (en) * | 2022-05-12 | 2022-08-09 | 上海交通大学 | Self-growing flexible variable stiffness mechanical arm space cross-size target automatic capture control method |
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| CN109848975A (en) * | 2019-02-20 | 2019-06-07 | 哈尔滨工业大学（深圳） | A kind of hybrid serial-parallel mechanism heavy load mechanical arm of rope driving |
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| CN111015645A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven continuous flexible mechanical arm |
| CN111633638A (en) * | 2020-05-28 | 2020-09-08 | 东方红卫星移动通信有限公司 | Continuum robot and satellite fuel filling system |
| CN111745684A (en) * | 2020-06-18 | 2020-10-09 | 北京精密机电控制设备研究所 | Under-actuated equal-bending linkage joint group and continuous mechanical arm |
| CN112109111A (en) * | 2020-08-24 | 2020-12-22 | 同济大学 | Three-dimensional mechanical joint, mechanical arm and control method for oblique-section cylindrical connection |
| CN112109111B (en) * | 2020-08-24 | 2024-01-23 | 同济大学 | Three-dimensional mechanical joint, mechanical arm and control method for chamfer cylindrical connection |
| CN113043270A (en) * | 2021-02-23 | 2021-06-29 | 哈尔滨工业大学（深圳） | Automatic high-precision resetting method of rope-driven flexible mechanical arm based on tooling condition |
| CN113211422A (en) * | 2021-03-29 | 2021-08-06 | 清华大学 | Equal-curvature linkage mechanical arm |
| CN113043322A (en) * | 2021-05-13 | 2021-06-29 | 上海大学 | Cable driving device for motion decoupling of rolling joint continuum mechanical arm |
| CN113043322B (en) * | 2021-05-13 | 2023-02-17 | 上海大学 | Cable driving device for motion decoupling of rolling joint continuum mechanical arm |
| CN114872938A (en) * | 2022-05-12 | 2022-08-09 | 上海交通大学 | Self-growing flexible variable stiffness mechanical arm space cross-size target automatic capture control method |
Also Published As
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| CN108942906B (en) | 2020-08-28 |
| WO2020024362A1 (en) | 2020-02-06 |
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