CN110480676B - Large-corner flexible joint based on rope driving and robot - Google Patents
Large-corner flexible joint based on rope driving and robot Download PDFInfo
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- CN110480676B CN110480676B CN201910821975.3A CN201910821975A CN110480676B CN 110480676 B CN110480676 B CN 110480676B CN 201910821975 A CN201910821975 A CN 201910821975A CN 110480676 B CN110480676 B CN 110480676B
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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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- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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Abstract
The invention provides a rope-driven large-corner flexible joint and a robot, wherein the flexible joint comprises a first platform, a second platform, an elastic branched chain and a plurality of rigid branched chains, and two ends of the elastic branched chain are fixedly connected to the first platform and the second platform respectively; the rigid branched chain comprises a connecting rod, a first rotating joint and a second rotating joint, one end of the connecting rod is connected to the first platform through the first rotating joint, and the other end of the connecting rod is connected to the second platform through the second rotating joint; the first rotating joint comprises a first connecting piece with two rotating pairs, and the first connecting piece is hinged to the first platform and the connecting rod respectively; the second rotary joint comprises a second connecting piece with two revolute pairs and a third connecting piece with one revolute pair, the second connecting piece is hinged to the second platform and one end of the third connecting piece respectively, and the other end of the third connecting piece is hinged to the connecting rod. The invention has the advantages of simple structure, good flexibility and adjustable rigidity.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a rope-driven large-corner flexible joint and a robot.
Background
The cable-driven robot is a robot that connects a movable platform (or an end effector) and a static platform through cables, has the advantages of large working space, high load-mass ratio and easiness in modularization, and has become a hot point of research.
The applicant provides a rope-driven series-parallel hybrid mechanism heavy-load mechanical arm in the prior Chinese patent application 201910134989.8, which comprises a body, and a shoulder joint, a large arm, an elbow joint, a small arm and a bionic palm which are arranged on the body; the elbow joint comprises an elbow fixing platform, an elbow moving platform and three same position constraint branched chains for connecting the elbow fixing platform and the elbow moving platform, the elbow fixing platform is arranged on the large arm, a connecting line between the center of the elbow fixing platform and the center of the elbow moving platform is L, and the three position constraint branched chains are distributed in central symmetry relative to the connecting line L; one end of the position constraint branched chain is connected to the elbow movable platform through a first rotary joint, the other end of the position constraint branched chain is connected to the elbow fixing platform through a second rotary joint, and the first rotary joint and the second rotary joint are distributed in central symmetry relative to a connecting line L. The elbow joint in the technical scheme adopts the rope to drive, the whole elbow joint is of a rigid structure and does not have a flexible scheme, and for the rope-driven parallel mechanism, the whole rigidity of the mechanism can be adjusted through the tension of the rope, but the rope can be loosened in the process, so that the structure is unstable.
The applicant's prior chinese patent application 201910344484.4 provides a two-degree-of-freedom large-rotation-angle flexible robot joint based on rope drive and a robot, belonging to the technical field of robots. The two-degree-of-freedom large-rotation-angle flexible robot joint based on rope driving comprises a first joint rod, a second joint rod and a rotating connecting piece, wherein one end of the rotating connecting piece is hinged and connected with a first hinged piece, the first hinged piece is hinged and connected with the first joint rod, the other end of the rotating connecting piece is hinged and connected with a second hinged piece, and the second hinged piece is hinged and connected with the second joint rod. The whole structure in the technical scheme is rigid and does not have a flexible scheme.
Based on this, this application provides a big corner flexible joint and robot based on rope drive.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a rope-driven large-corner flexible joint, which is provided with elastic branched chains respectively connecting a first platform and a second platform, can realize the flexibility of the whole structure, and has the advantages of simple structure, good flexibility and adjustable rigidity.
In order to achieve the above object, in one aspect, the present invention provides a rope-driven large-angle flexible joint, including a first platform, a second platform, an elastic branched chain, and a plurality of rigid branched chains arranged around the elastic branched chain, wherein the second platform is arranged to be driven by a rope and can move relative to the first platform, and two ends of the elastic branched chain are fixedly connected to the first platform and the second platform, respectively; the rigid branched chain comprises a connecting rod, a first rotating joint and a second rotating joint, one end of the connecting rod is connected to the first platform through the first rotating joint, and the other end of the connecting rod is connected to the second platform through the second rotating joint; the first rotating joint comprises a first connecting piece with two rotating pairs, and the first connecting piece is hinged to the first platform and the connecting rod respectively; the second rotary joint comprises a second connecting piece with two revolute pairs and a third connecting piece with one revolute pair, the second connecting piece is hinged to the second platform and one end of the third connecting piece respectively, and the other end of the third connecting piece is hinged to the connecting rod.
In the above technical solution of the present invention, two ends of the elastic branched chain are respectively and fixedly connected to the first platform and the second platform, and when the second platform moves relative to the first platform, the elastic branched chain is correspondingly bent to be in a bent posture, wherein the elastic branched chain is always kept in a compressed state, for example, the elastic branched chain is a spring in a compressed state, and a restoring force of the elastic branched chain can be balanced with a pulling force of a rope, thereby realizing a flexible design of the whole joint.
According to another embodiment of the invention, the first connecting piece is hinged to the first platform through a revolute pair R1, the first connecting piece is hinged to one end of the connecting rod through a revolute pair R2, the second connecting piece is hinged to the second platform through a revolute pair R5, the second connecting piece is hinged to a third connecting piece through a revolute pair R4, and the third connecting piece is hinged to the other end of the connecting rod through a revolute pair R3, wherein the revolute pairs R1 and R2 are perpendicular to each other, the revolute pairs R4 and R5 are perpendicular to each other, and the axes of the revolute pairs R2, R3 and R4 are parallel to each other.
According to another embodiment of the invention, the axes of the plurality of revolute pairs R1 in the plurality of rigid branched chains intersect at the same position point, and the axes of the plurality of revolute pairs R5 in the plurality of rigid branched chains intersect at the same position point.
According to another embodiment of the present invention, the links of the plurality of rigid branches are uniformly distributed with the elastic branch as a rotation center.
According to another embodiment of the present invention, the connecting rods in the rigid branched chain are circular arc-shaped, and the plurality of connecting rods are spirally distributed.
According to another embodiment of the invention, the number of rigid branches is three or four.
According to another specific embodiment of the present invention, the first platform and the second platform are provided with connecting ear seats for connecting the first connecting member and the second connecting member.
According to another embodiment of the present invention, when the first platform and the second platform are parallel to each other, the connecting lines between the two ends of the plurality of rigid branched chains meet at the same position point, and the position point is located on the elastic branched chain.
According to another embodiment of the present invention, the device further comprises a position adjusting nut for adjusting the distance between the first platform and the second platform, the position adjusting nut is disposed on the first platform and/or the second platform, and preferably, the position adjusting nut is disposed on both the first platform and the second platform.
In another aspect, the invention further provides a robot, which comprises the large-corner flexible joint based on the rope drive.
The single rigid branched chain is of a URU structure, the joint is integrally composed of an N-URU (N is 3 or 4) parallel mechanism and a constraint spring and has two rotation degrees and one movement degree of freedom, the 3-UU parallel mechanism is adopted in the prior applications 201910134989.8 and 201910344484.4 of the applicant and only has two rotation degrees of freedom, and the rigid mechanism adopted by the elbow joint in the application does not have the flexibility characteristic.
The invention has the following beneficial effects:
according to the invention, the elastic branched chains and the rigid branched chains are arranged between the first platform and the second platform, so that the rotation of two degrees of freedom between the first platform and the second platform is realized, the rope looseness phenomenon in the rope adjustment process can be compensated through the adjusting back and releasing action of the elastic branched chains, the structure is simple, the flexibility is good, and the flexible design of the joint is realized.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of an inverse parallelogram mechanism;
FIG. 2 is a schematic diagram of a flexible anti-parallelogram mechanism;
FIG. 3 is a schematic view of the overall structure of the flexible joint in an unflexed state;
FIG. 4 is a schematic front view of FIG. 3;
FIG. 5 is an exploded schematic view of FIG. 4;
FIG. 6 is a structural overall view of the flexible joint in a bent state;
FIG. 7 is a schematic view of a constrained line vector analysis of a single rigid branch;
FIG. 8 is a schematic view of a constraint force vector analysis of the flexible joint as a whole;
FIG. 9 is a schematic illustration of a stiffness adjustment analysis of a flexible joint.
Detailed Description
The present embodiment provides a rope-driven large-angle flexible joint, and for the convenience of understanding the present embodiment, the principles of the inverse-parallelogram mechanism and the flexible inverse-parallelogram mechanism mentioned in the present embodiment will be described in detail below.
Mechanism relating to inverse parallelogram and spherical approximation thereof
Referring to fig. 1, in order to approximate the motion center locus of the mechanism to a circle, let it be assumed that p is0(0，c0) An imaginary circle having a center of a circle and a radius r, and an intersection point of a radius line and the imaginary circle is considered as pc(xc，yc) The intersection point with the ellipse is pe(xe，ye)。
Easily obtained from geometrical relations
ye＝xe/tanθ+c0
Obtained by the above two formulas
Wherein, define | pcpe|＝|p0peR, when pcpeWhen | is close to zero, the motion center locus is approximate to a circle, and the mechanical parameter values meeting the requirement of the precision of the imaginary circle r can be obtained through numerical calculation (for example, through matlab calculation), for example, when the radius of the imaginary circle is 38, w, l and c0The values are 23.14mm, 73.14mm and-3.29 mm respectively, and the circle error range is within 0.035mm at the moment; therefore, reasonable design parameters are selected, the inverse parallelogram mechanism can be used as a spherical rolling mechanism, and the precision can be ensured within a reasonable range; when the inverse parallelogram mechanism is used as a spherical rolling mechanism, the two control ropes have the same rope length change rate, so that the control is simpler and more efficient.
About flexible inverse parallelogram mechanisms
Referring to fig. 2, the inverse parallelogram mechanism is a rigid rod connection, and in order to introduce flexibility, an additional revolute pair E and an additional revolute pair F are respectively added near two revolute pairs of the movable platform, which are easily obtained, and the introduction of the revolute pairs E and F enables the movable platform (located above) to have a freedom of movement. In addition, a spring is arranged inside the mechanism to restrain the movement, so that the introduction of the spring enables the mechanism to have better flexibility.
Meanwhile, the relative positions of the revolute pair C and the revolute pair E and the relative positions of the revolute pair D and the revolute pair F are kept unchanged or slightly changed, so that the whole mechanism still has the motion characteristic of the inverse parallelogram mechanism, and then the tension of the rope and the elastic force of the spring are balanced by introducing a rope driving mode.
As shown in fig. 3-9, a rope-driven large-angle flexible joint comprises a first platform 1, a second platform 2, a spring 3 (elastic branched chain) and three rigid branched chains 4, wherein the three rigid branched chains 4 are distributed in a spiral structure, and the three rigid branched chains 4 are uniformly distributed by taking the elastic branched chains as a rotation center; in this embodiment, the disc-shaped first platform 1 is taken as a fixed platform, the disc-shaped second platform 2 is taken as a static platform, and the fixed platform and the static platform are driven by the rope to move, which is further described.
The first platform 1 and the second platform 2 are both provided with a connecting seat 5, and two ends of the spring 3 are respectively connected to the connecting seats 5; rigid branch chain 4 includes circular arc pole 41 (connecting rod), first revolute joint 42 and second revolute joint 43, and the interference problem in the motion process can effectively be avoided to circular arc pole 41, and wherein the one end of circular arc pole 41 is connected to on the connecting ear seat of first platform 1 through first revolute joint 42, and the other end of circular arc pole 41 is connected to on the connecting ear seat of second platform 2 through second revolute joint 43.
The first rotating joint 42 includes a first connecting member 421, and the first connecting member 421 has two mutually perpendicular revolute pairs R1, R2, wherein the first connecting member 421 is hinged to the first platform 1 through a revolute pair R1, and the first connecting member 421 is hinged to one end of the arc rod 41 through a revolute pair R2.
The second rotating joint 43 includes a second connecting member 431 and a third connecting member 432, the second connecting member 431 has two mutually perpendicular revolute pairs R4, R5, the third connecting member 432 has one revolute pair R3, wherein the second connecting member 431 is hinged to the second platform 2 through the revolute pair R5, the second connecting member 431 is hinged to the third connecting member 432 through the revolute pair R4, the third connecting member 432 is hinged to the other end of the rigid branched chain 4 through the revolute pair R3, and the axes of the revolute pairs R2, R3, R4 are parallel to each other.
In this embodiment, the single rigid branched chain is of a URU structure, that is, the joint is of a 3-URU structure as a whole, and the single rigid branched chainIn other words, the first R pair (R1) of the rigid branched chain is arranged on the first platform 1, the last R pair (R5) is arranged on the second platform 2, the axes of the three R pairs (R2, R3, R4) in the middle are parallel to each other and are perpendicular to the axes of the two R pairs (R1, R5) at the two ends; referring to fig. 3, the axes of the plurality of revolute pairs R1 in the plurality of rigid branched chains 4 intersect at the same point, i.e. at or near the center of the first platform 1, and the plurality of revolute pairs in the plurality of rigid branched chains (R5)1、R52、R53) At the same point, as shown in fig. 7, i.e. at or near the center of the second platform 2.
Accordingly, when the first platform 1 and the second platform 2 are parallel to each other, i.e. in the position state shown in fig. 4, the connecting lines between the two ends of the plurality of rigid branched chains 4 meet at the same position point, which is located at the center of the spring 3.
According to the spiral theoretical geometric analysis method, for a single rigid branched chain, the constraint force with the constraint freedom degree parallel to the axes of the revolute pair R2, the revolute pair R3 and the revolute pair R4 and intersected with the axes of the revolute pair R1 and the revolute pair R5, namely a constraint line vector $shownin FIG. 7, is easily obtainedr 1Similarly, another two constraint line vectors $can be obtainedr 2And $r 3The three line vectors are coplanar and non-intersecting, which is easily obtained by the theory of spiral, and the three coplanar and non-intersecting line vectors restrict two movements and one rotation of the mechanism.
It should be noted that when the joint rotation angle is zero, i.e. the initial state shown in fig. 8, a coordinate system with the origin at the center of the joint is established, the XOY plane of the coordinate system is parallel to the plane between the first platform 1, and the Z axis is vertical and upward, and the joint has a constraint couple $r 4The couple axis is along the Z-axis, which is the line connecting the intersection of the three revolute pairs coupled to the first platform 1 and the intersection of the three revolute pairs coupled to the second platform 2.
Restraint couple $r 4One degree of freedom of rotation of the joint in the Z-axis direction is limited, so in this state the joint has two rotations (about the X-axis, Y-axis) and three movements, however the joint springsThe presence of the spring constrains the movement in the X-direction and the Y-direction, so that in the initial state the joint has two rotations about the X-axis and the Y-axis and a movement along the Z-axis, as previously described, the movement of the second platform 2 along the Z-axis is constrained jointly by the spring and the ropes (four ropes), which now just provides a flexible structure for the whole joint, so that the joint finally assumes only two rotations about the X-axis and the Y-axis.
The adjustment of the stiffness in this embodiment is illustrated in fig. 9, where the rope, as is known, is a long and thin flexible structure made of fibers or wires, which has a greater stiffness in the tensioned state and almost zero stiffness in the relaxed state; for the rope-driven parallel mechanism, the rigidity of the mechanism can be adjusted through the tension of the rope, but at the same time, the rope can be loosened, and the adjustment of the joint rigidity is not suitable. In this embodiment, the slack of the rope caused by the adjustment of the rigidity of the rope can be compensated due to the adjustment and release action of the spring, and at this time, even if the tension of the rope is reduced, the rope cannot be loosened, so that the rigidity is changed.
In addition, position adjusting nuts 6 can be arranged on the first platform 1 and the second platform 2, and the spring can be compressed or loosened in a manual or motor-driven mode, so that the distance between the first platform 1 and the second platform 2 can be adjusted in a small range.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.
Claims (8)
1. A large-corner flexible joint based on rope driving is characterized by comprising:
a first platform;
a second platform arranged to be driven by a rope and capable of moving relative to the first platform;
the two ends of the elastic branched chain are respectively and fixedly connected to the first platform and the second platform; and
a plurality of rigid branches disposed around the elastic branches;
the rigid branched chain comprises a connecting rod, a first rotating joint and a second rotating joint, one end of the connecting rod is connected to the first platform through the first rotating joint, and the other end of the connecting rod is connected to the second platform through the second rotating joint;
the first rotating joint comprises a first connecting piece with two rotating pairs, and the first connecting piece is hinged to the first platform and the connecting rod respectively; the second rotary joint comprises a second connecting piece with two revolute pairs and a third connecting piece with one revolute pair, the second connecting piece is hinged to the second platform and one end of the third connecting piece respectively, and the other end of the third connecting piece is hinged to the connecting rod;
the first connecting piece is hinged to the first platform through a revolute pair R1, the first connecting piece is hinged to one end of the connecting rod through a revolute pair R2, the second connecting piece is hinged to the second platform through a revolute pair R5, the second connecting piece is hinged to the third connecting piece through a revolute pair R4, the third connecting piece is hinged to the other end of the connecting rod through a revolute pair R3, the revolute pairs R1 and R2 are perpendicular to each other, the revolute pairs R4 and R5 are perpendicular to each other, and the axes of the revolute pairs R2, R3 and R4 are parallel to each other;
the axes of the revolute pairs R1 in the rigid branched chains are intersected at the same position point, and the axes of the revolute pairs R5 in the rigid branched chains are intersected at the same position point.
2. A rope drive-based large-angle flexible joint according to claim 1, wherein the links in the plurality of rigid branched chains are uniformly distributed with the elastic branched chain as a rotation center.
3. The rope drive-based large-angle flexible joint according to claim 2, wherein the links in the rigid branches are in a circular arc structure.
4. A large-angle flexible joint based on cable drive as claimed in claim 2, wherein the number of said rigid branched chains is three or four.
5. The rope drive-based large-rotation-angle flexible joint as claimed in claim 1, wherein the first platform and the second platform are provided with connecting lug seats for connecting the first connecting piece and the second connecting piece.
6. The rope-driven large-rotation-angle flexible joint according to claim 1, wherein when the first platform and the second platform are parallel to each other, connecting lines between two ends of the plurality of rigid branched chains meet at a same position point, and the position point is located on the elastic branched chain.
7. The rope drive-based large-rotation-angle flexible joint according to claim 1, further comprising a position adjusting nut for adjusting the distance between the first platform and the second platform, wherein the position adjusting nut is provided on the first platform and/or the second platform.
8. A robot characterized by comprising a rope drive based large angle flexible joint according to any of claims 1-7.
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| CN201910821975.3A CN110480676B (en) | 2019-09-02 | 2019-09-02 | Large-corner flexible joint based on rope driving and robot |
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| CN201910821975.3A CN110480676B (en) | 2019-09-02 | 2019-09-02 | Large-corner flexible joint based on rope driving and robot |
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| CN110480676B true CN110480676B (en) | 2021-03-05 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112454345B (en) * | 2020-11-10 | 2022-11-04 | 广东工业大学 | Rope-driven joint module |
| CN113211422B (en) * | 2021-03-29 | 2022-11-04 | 清华大学 | Equal-curvature linkage mechanical arm |
| CN114346995B (en) * | 2021-12-30 | 2024-04-09 | 燕山大学 | Modularized rope driving mechanical arm based on 2-UR parallel mechanism |
| CN115565803B (en) * | 2022-10-25 | 2023-08-29 | 深圳技术大学 | Rope drives operating handle |
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