CN109109017B - Automatic wire arranging and winding mechanism for rope traction robot - Google Patents
Automatic wire arranging and winding mechanism for rope traction robot Download PDFInfo
- Publication number
- CN109109017B CN109109017B CN201811059575.5A CN201811059575A CN109109017B CN 109109017 B CN109109017 B CN 109109017B CN 201811059575 A CN201811059575 A CN 201811059575A CN 109109017 B CN109109017 B CN 109109017B
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- screw rod
- screw
- spiral
- winding mechanism
- winding
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
Abstract
The invention relates to a robot joint driving mechanism, in particular to an automatic wire arranging and winding mechanism for a rope traction robot, which comprises a screw rod fixing support part and a spiral reel moving part, wherein the screw rod fixing support part comprises a driving motor, a supporting column, a screw rod fixing block and a screw rod, and the reel moving part comprises a first rotating flange, a second rotating flange, an optical axis, a linear bearing, a spiral reel and a screw rod nut; the mechanism is used for fixing the screw rod, and realizing single-motor equal-pitch winding/unwinding and winding displacement by adopting a mode that the motor drives the screw rod nut to move spirally; compared with the conventional winding mechanism, the winding mechanism is driven by only one motor, has more compact structure, requires fewer parts, is easy to integrate into a robot driving control system, and can ensure that the winding/unwinding rotation radius of the driving end of the rope traction robot is consistent, thereby ensuring the driving end precision of the rope traction robot.
Description
Technical Field
The invention relates to a robot joint driving mechanism, in particular to an automatic wire arranging and winding mechanism for a rope traction robot.
Background
The rope traction robot is a rigid-flexible coupling mechanism formed by flexible ropes and a rigid frame, and the fully distributed flexible ropes are used for replacing rigid connecting rods to transmit force and motion. Because the rope can only be pulled but not pushed, for the stability of the mechanism, a redundant driving or parallel connection mode is generally adopted, and the rope traction robot is often a parallel robot; the rope traction parallel robot has the advantages of the parallel robot, and has the advantages of light mechanism structure, small motion inertia, high load-mass ratio, large working space, capability of being used in special and dangerous places and the like.
The rope traction parallel robot adopts flexible rope transmission except that the static platform and the movable platform are rigid, a plurality of ropes are simultaneously connected to the tail end, and the tail end movement is synthesized by changing the length of the ropes. Therefore, the winding/unwinding precision of the driving end has a great influence on the positioning precision of the tail end of the robot. At present, the driving end of the rope traction robot generally adopts a reel mode to reel/pay off, and the rotation of the reel enables a driving wire to become a driving length on the circumference of the reel; in order to control the precision, the consistency of the rotation radius must be ensured, but due to the flexibility of the rope, the control is difficult, and an additional wire arranging mechanism must be added to orderly arrange the winding and unwinding wires. The additional winding displacement mechanism makes the rope robot have larger driving end volume and bulkier structure, and increases additional control load, such as controlling a winding displacement motor more, thereby increasing cost and reducing system reliability.
The radius of the driving end reel of the rope traction robot must be consistent in the winding process to ensure the precision, and the winding is required to be arranged, so that the reel needs to have two degrees of freedom of translation and rotation, wherein the translation pitch needs to be consistent with the rope width to ensure the winding to be tidy and uniform. At present, the driving end mechanism of the rope traction robot has the following defects:
1. the winding and the winding displacement are controlled separately, and an additional motor and a transmission mechanism are needed;
2. even if the motor is adopted for driving, the rotary motion and the translational motion mechanism are separated, so that the installation requirement is high;
3. the driving end is large in size, not compact in structure and difficult to realize miniaturization;
4. the surface of the reel is smooth and has no constraint groove, and the wire arrangement intervals are different.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic wire arranging and winding mechanism for a rope traction robot, which is characterized in that a screw rod is fixed, a single motor is used for realizing winding/unwinding with equal pitch in a mode that a motor drives a screw rod nut to move spirally, and the winding/unwinding rotation radius of the driving end of the rope traction robot is consistent, so that the driving end precision of the rope traction robot is ensured, the structure is compact, and the cost is low.
The invention is realized by adopting the following technical scheme: an automatic wire arranging and winding mechanism for a rope traction robot comprises a screw rod fixing bracket part and a reel moving part;
the screw rod fixing support part comprises a driving motor, a supporting column, a screw rod fixing block and a screw rod; the driving motor is connected with the screw rod fixing block through the supporting column to form an external bracket; the screw rod is fixedly connected to the screw rod fixing block;
the reel motion part comprises a first rotary flange, a second rotary flange, an optical axis, linear bearings, a spiral reel and a screw nut, wherein the first rotary flange is fixedly connected with the driving motor, the first rotary flange is fixedly connected with the second rotary flange through the optical axis to form an inner support, the first rotary flange and the second rotary flange are respectively embedded with two rotary bearings and are sleeved at two ends of a screw shaft shoulder, and the inner support and the outer support form a revolute pair through the two rotary bearings; the screw rod nut is fixedly connected with the coaxial line of the spiral reel, a linear bearing is embedded in the spiral reel, the screw rod nut and the screw rod are combined into a screw pair, and the linear bearing and the optical axis form a sliding pair;
the driving motor rotates to drive the inner support to move, the optical axis on the inner support generates torque, the screw rod is fixed, and the spiral reel drives the screw rod nut to realize spiral movement of simultaneous rotation and translation on the screw rod.
The spiral winding wheel is provided with spiral line grooves consistent with the line width. The grooved section of the spiral line is semicircular.
Compared with the prior art, the patent has the following advantages and beneficial effects:
1. the invention comprises a screw rod fixing bracket part and a spiral reel moving part, and has the functions of winding and arranging wires simultaneously; the motor is used as power to change the conventional screw rod using mode of screw rod rotating motion and screw rod nut translational motion in the prior art, the screw rod is fixed, the motor is used for driving the screw rod nut to move helically, the equal pitch and equal radius coiling/uncoiling of the rope traction robot driving joint is realized, namely, the coiling radius of the spiral coiling wheel is unchanged all the time during coiling/uncoiling, and the precision of the driving end of the rope traction robot can be ensured.
2. Compared with the conventional winding mechanism, the invention integrates both the rotation motion and the translation motion on one mechanism, the winding and the winding mechanism are coaxially arranged, the winding and the winding can be realized by only driving the motor, the structure is more compact, the required parts are fewer, the cost and the space are saved, and the invention is easy to integrate into a robot driving control system.
3. The spiral winding wheel has spiral grooves on the surface, so that the passive self-adaptive rope arrangement can be realized, the installation requirement is reduced, and the arrangement space is uniform.
4. The wire winding/unwinding wheel can be placed at any position in the movement stroke of the screw nut, and the wire winding effect of the wire arrangement is not affected.
Drawings
FIG. 1 is a schematic diagram of an automatic traverse winding mechanism for a rope pulling robot;
FIG. 2 is a schematic view of a moving portion of a reel;
FIG. 3 is a schematic view of a portion of a lead screw fixation bracket;
FIG. 4 is a view showing a state of use of the wire reel in cooperation with the take-up/pay-off wire reel;
in the figure: 1-second rotary flange, 2-screw rod, 3-linear bearing, 4-optical axis, 5-first rotary flange, 6-driving motor, 7-rotary bearing, 8-spiral reel, 9-screw nut, 10-support column, 11-screw fixed block, 12-wire take-up/pay-off wire wheel, 13-drive rope.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples, but the embodiments of the present invention are not limited thereto.
Examples
As shown in fig. 1 to 3, the automatic traverse winding mechanism for a rope pulling robot of the present invention includes a lead screw fixing bracket portion and a reel moving portion.
Wherein, lead screw fixed bolster part includes: the driving motor 6, the support column 10, the screw rod fixing block 11 and the screw rod 2 are arranged, and four support columns are arranged in the embodiment.
The driving motor 6 is a 42-step motor, the motion resolution is 25600pulse/round, and the driving motor is connected with the screw rod fixing block 11 through four supporting columns 10 with the diameter of 5mm by screws to form an external bracket; the middle part of the screw rod fixing block 11 is provided with a screw rod mounting hole, the end part of the screw rod 2 is provided with a flat edge, and the screw rod 2 is fixedly connected to the screw rod fixing block 11 in a mode that a screw rod props against the flat edge. The lower part of the whole screw rod fixing support is provided with a driving motor 6, the upper part of the whole screw rod fixing support is provided with a screw rod fixing block 11, the screw rod fixing support and four support columns 10 form a frame, and the whole screw rod fixing support is in a static state relative to the whole mechanism and does not have relative movement.
The reel moving portion includes: a first rotary flange 5, a second rotary flange 1, an optical axis 4, a linear bearing 3, a spiral reel 8 and a screw nut 9.
The first rotary flange 5 is fixedly connected with the driving motor 6, and the first rotary flange 5 is fixedly connected with the second rotary flange 1 through four optical axes 4 with diameters of 3mm to form an internal bracket. The first rotary flange 5 and the second rotary flange 1 are respectively embedded with two rotary bearings 7 which are sleeved at two ends of a shaft shoulder of the screw rod 2, the screw rod 2 and the screw rod fixing block 11 are static, and the inner bracket and the outer bracket form a revolute pair through the two rotary bearings 7; the lead screw nut 9 with the lead of 2mm is fixedly connected with the coaxial line of the spiral winding wheel 8 with the pitch of 2mm through a screw, four linear bearings 3 with the inner diameter of 3mm are embedded in the spiral winding wheel 8, the lead screw nut 9 and the lead screw 2 are combined into a screw pair, and the linear bearings 3 and the optical axis 4 form a sliding pair which can rotate and translate.
The output shaft of the driving motor 6 is fixedly connected with the first rotary flange 5 in a coaxial line, the driving motor rotates to drive the inner support to move, the four optical axes on the inner support generate torque, the screw rod 2 is fixed, the screw reel 8 drives the screw nut 9 fixedly connected to realize simultaneous rotation and translational spiral movement on the screw rod, the rotation movement is used for winding wires, the translational movement is used for winding wires, and the winding wires are coupled with the winding wire movement, so that the winding wires are completed simultaneously. There is a simultaneous rotational and translational helical movement between the optical axis 4 and the linear bearing 3.
In the embodiment, the screw rod 2 is matched with the screw rod nut 9, is a trapezoid screw rod with a lead of 2mm and is provided with an anti-backlash spring; the 3mm optical axis 4 is matched with the linear bearing 3; the spiral reel 8 has a winding length of 8 turns and can receive/release a rope of about 800mm long and 2mm in diameter.
In this embodiment, the spiral reel 8 is provided with a semicircular spiral line groove with the diameter of 2mm, which is consistent with the wire diameter of the used rope, and when the screw nut 9 drives the spiral reel 8 to do spiral motion of simultaneous rotation and translation, namely, in the wire arranging and winding process, the rope is adaptively embedded into the groove, so that the groove has certain fault tolerance, and the spiral line groove can ensure consistent space after winding. Line width, lead of screw, effective radius of reel, motor rotation angle etc. relationship is as follows:
wherein: l is the length of the winding/unwinding line in mm; alpha is the rotation angle of the motor, and the unit is o; r is the effective radius of the reel in mm;
D＝d＝n (2)
wherein: d is the lead of the screw rod, and the unit is mm/round; d is the reel pitch in mm/round; n is the wire diameter in mm.
That is, in the present embodiment, the spiral motion of the spiral reel 8 is transmitted by torque generated by the four optical axes 4 on the inner frame; the driving motor 6 rotates to drive the first rotating flange 5 to rotate, so that the optical axis 4 generates torque on the spiral reel 8, radial rotation taking the screw rod 2 as a center is realized, and sliding is realized in the axial direction with the linear bearing 3; the linear bearings 3 nested in the spiral reel 8 have both rotation and translation movements relative to the optical axis 4, and simultaneously realize wire arrangement and wire winding. As shown in fig. 4, the take-up/pay-off wire wheel 12 can be placed at any position within the movement stroke of the lead screw nut 9 without affecting the wire arranging and winding effect.
The above examples of the present invention are merely illustrative of the present invention and are not intended to limit the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (7)
1. An automatic wire arranging and winding mechanism for a rope traction robot is characterized by comprising a screw rod fixing bracket part and a winding wheel moving part;
the screw rod fixing support part comprises a driving motor, a supporting column, a screw rod fixing block and a screw rod; the driving motor is connected with the screw rod fixing block through the supporting column to form an external bracket; the screw rod is fixedly connected to the screw rod fixing block;
the reel motion part comprises a first rotary flange, a second rotary flange, an optical axis, linear bearings, a spiral reel and a screw nut, wherein the first rotary flange is fixedly connected with the driving motor, the first rotary flange is fixedly connected with the second rotary flange through the optical axis to form an inner support, the first rotary flange and the second rotary flange are respectively embedded with two rotary bearings and are sleeved at two ends of a screw shaft shoulder, and the inner support and the outer support form a revolute pair through the two rotary bearings; the screw rod nut is fixedly connected with the spiral reel coaxially, a linear bearing is embedded in the spiral reel, the screw rod nut and the screw rod are combined into a screw pair, and the linear bearing and the optical axis form a sliding pair;
the driving motor rotates to drive the internal support to move, the optical axis on the internal support generates torque, the screw rod is fixed, and the spiral reel drives the screw rod nut to realize spiral movement of simultaneous rotation and translation on the screw rod;
the spiral reel is provided with spiral line grooves consistent with the line width;
the screw rod is a trapezoidal screw rod and is provided with an anti-backlash spring.
2. The automatic wire-arranging and winding mechanism for a rope pulling robot as defined in claim 1, wherein the output shaft of the driving motor is fixedly connected coaxially with the first rotary flange.
3. An automatic traverse winding mechanism for a rope pulling robot as defined in claim 1, wherein the spiral grooved section is semi-circular.
4. The automatic traverse winding mechanism for a rope pulling robot as recited in claim 1, wherein the end of the screw has a flat edge, and the screw is fixedly connected to the screw fixing block in such a manner that the screw abuts against the flat edge.
5. An automatic traverse winding mechanism for a rope pulling robot as defined in claim 1, wherein the support columns are provided with four support columns.
6. An automatic traverse winding mechanism for a rope pulling robot according to claim 1, wherein the linear bearings are provided with four.
7. The automatic wire-arranging and winding mechanism for a rope pulling robot according to claim 1, wherein the lead of the trapezoidal screw is 2mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811059575.5A CN109109017B (en) | 2018-09-12 | 2018-09-12 | Automatic wire arranging and winding mechanism for rope traction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811059575.5A CN109109017B (en) | 2018-09-12 | 2018-09-12 | Automatic wire arranging and winding mechanism for rope traction robot |
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| Publication Number | Publication Date |
|---|---|
| CN109109017A CN109109017A (en) | 2019-01-01 |
| CN109109017B true CN109109017B (en) | 2023-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811059575.5A Active CN109109017B (en) | 2018-09-12 | 2018-09-12 | Automatic wire arranging and winding mechanism for rope traction robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895079B (en) * | 2019-04-22 | 2022-03-04 | 哈尔滨工业大学（威海） | Full-freedom-degree continuum mechanical arm |
| CN110015589B (en) * | 2019-05-13 | 2024-03-05 | 河北华友文化遗产保护股份有限公司 | Portable cable laying frame |
| CN114955909A (en) * | 2022-03-18 | 2022-08-30 | 南京农业大学 | Indoor robot positioning device and positioning method based on parallel rope mechanism |
| CN114654458A (en) * | 2022-04-08 | 2022-06-24 | 四川大学 | Spiral transmission type rope-driven mechanical arm and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101733743A (en) * | 2010-01-02 | 2010-06-16 | 华南理工大学 | Drawing wire type serial mechanical arm |
| CN106989152A (en) * | 2017-04-18 | 2017-07-28 | 中国科学技术大学 | A kind of high-precision wire drive |
| CN107225564A (en) * | 2017-05-17 | 2017-10-03 | 中国科学院自动化研究所 | A kind of Snakelike mechanical arm rolled up |
| CN107756388A (en) * | 2017-12-01 | 2018-03-06 | 南开大学 | A kind of physical man-machine interactive platform based on wire saws series connection flexible drive |
| CN108422410A (en) * | 2018-03-05 | 2018-08-21 | 东南大学 | A kind of bionical parallel robot of the adjustable rope driving of rigidity |
-
2018
- 2018-09-12 CN CN201811059575.5A patent/CN109109017B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101733743A (en) * | 2010-01-02 | 2010-06-16 | 华南理工大学 | Drawing wire type serial mechanical arm |
| CN106989152A (en) * | 2017-04-18 | 2017-07-28 | 中国科学技术大学 | A kind of high-precision wire drive |
| CN107225564A (en) * | 2017-05-17 | 2017-10-03 | 中国科学院自动化研究所 | A kind of Snakelike mechanical arm rolled up |
| CN107756388A (en) * | 2017-12-01 | 2018-03-06 | 南开大学 | A kind of physical man-machine interactive platform based on wire saws series connection flexible drive |
| CN108422410A (en) * | 2018-03-05 | 2018-08-21 | 东南大学 | A kind of bionical parallel robot of the adjustable rope driving of rigidity |
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| Publication number | Publication date |
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| CN109109017A (en) | 2019-01-01 |
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