CN112092009B - Multi-degree-of-freedom variable-rigidity joint mechanical arm - Google Patents
Multi-degree-of-freedom variable-rigidity joint mechanical arm Download PDFInfo
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- CN112092009B CN112092009B CN202010975866.XA CN202010975866A CN112092009B CN 112092009 B CN112092009 B CN 112092009B CN 202010975866 A CN202010975866 A CN 202010975866A CN 112092009 B CN112092009 B CN 112092009B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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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
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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Abstract
A multi-degree-of-freedom variable-rigidity joint mechanical arm comprises a mounting seat, a base joint, three tail end joints and four connecting rods; the input end of the base joint is connected with the mounting seat, the output end of the base joint is connected with a first connecting rod, the first connecting rod is connected with the input end of a first tail end joint, the output end of the first tail end joint is connected with a second connecting rod, a third connecting rod is connected with the input end of a fourth tail end joint, and the output end of the fourth tail end joint is connected with a fourth connecting rod; the base joint comprises a first joint shell, a main driving module, an elastic module and a rigidity adjusting module; the first joint shell is connected with the first connecting rod, and each tail end joint comprises a second joint shell, a main driving mechanism, an elastic mechanism and a rigidity adjusting mechanism; the second connecting rod, the third connecting rod and the fourth connecting rod are respectively connected with the second joint shell of the corresponding tail end joint.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a multi-degree-of-freedom variable-rigidity joint mechanical arm. Belongs to the technical field of robot joints.
Background
Traditional industrial robot adopts rigid joint arm design, has higher position control accuracy, but the security is relatively poor, generally works in the confined environment. Robot systems such as service robots, field special operation robots and the like generally work in open environments, flexible and variable complex operation tasks need to be dealt with, and the requirements of human-computer safety interaction and interaction between the robots and unstructured environments exist, so that the traditional rigid joint mechanical arm cannot well meet the operation requirements of a cooperative robot.
Disclosure of Invention
The invention provides a multi-degree-of-freedom variable-rigidity joint mechanical arm for overcoming the defects of the prior art. The mechanical arm is large in rigidity adjusting range, good in flexibility and capable of achieving flexible operation and man-machine safety cooperation in an open environment.
The technical scheme of the invention is as follows:
a multi-degree-of-freedom variable-rigidity joint mechanical arm comprises a mounting seat, a base joint, three tail end joints and four connecting rods; the mounting seat is mounted on the existing linear sliding table, the input end of the base joint is connected with the mounting seat, the output end of the base joint is connected with the first connecting rod, the first connecting rod is connected with the input end of the first end joint, the output end of the first end joint is connected with the second connecting rod, the second connecting rod is connected with the input end of the third end joint, the output end of the third end joint is connected with the third connecting rod, the third connecting rod is connected with the input end of the fourth end joint, and the output end of the fourth end joint is connected with the fourth connecting rod;
the base joint comprises a first joint shell, a main driving module, an elastic module and a rigidity adjusting module; the first joint shell is connected with the first connecting rod, and the elastic module comprises a variable stiffness base, a linear spring module and a first lever assembly; the main driving module is arranged in the first joint shell, the main driving module and the first joint shell can rotate relatively, the elastic module is arranged in the first joint shell, and the variable-rigidity base is driven by the output end of the main driving module to rotate; two first lever assemblies which are arranged in axial symmetry are rotatably arranged on the variable stiffness base, each first lever assembly is provided with a sliding chute, one end of each sliding chute is open, the other end of each sliding chute is closed, the two openings are arranged oppositely, two outer walls of each sliding chute are respectively and correspondingly abutted against a linear spring module, and the linear spring modules are slidably arranged on the variable stiffness base; the rigidity adjusting module comprises a rigidity adjusting driver, a bevel gear pair, a cam disc seat, a cam disc, a rigidity adjusting sliding block and a first cam bearing follower; the rigidity adjusting driver is installed on the first joint shell, the output end of the rigidity adjusting driver is connected with a bevel gear of a bevel gear pair, the other bevel gear of the bevel gear pair is installed on a cam disc seat, the cam disc seat is rotatably arranged in the first joint shell, a cam disc is fixedly connected with the cam disc seat, two rigidity adjusting sliding blocks are slidably arranged in the first joint shell, two opposite side surfaces of each rigidity adjusting sliding block are respectively provided with a first cam bearing follower, the cam disc is provided with two arc-shaped holes which are centrosymmetric, the two first cam bearing followers are respectively limited in the two arc-shaped holes and can slide relatively, and the other two first cam bearing followers are respectively limited in the two sliding grooves and can slide relatively;
each tail end joint comprises a second joint shell, a main driving mechanism, an elastic mechanism and a rigidity adjusting mechanism; the second connecting rod, the third connecting rod and the fourth connecting rod are respectively connected with a second joint shell of the corresponding tail end joint; the elastic mechanism comprises a variable-stiffness chassis, a linear spring module and a second lever assembly; the main driving mechanism is arranged in the second joint shell and can rotate relatively, the first connecting rod, the second connecting rod and the third connecting rod are fixedly connected with the main driving mechanism corresponding to the tail end joint respectively, the elastic mechanism is arranged in the second joint shell, a second lever assembly is rotatably biased on the rigidity-variable chassis and is provided with a fulcrum sliding chute, one end of the fulcrum sliding chute is open, the other end of the fulcrum sliding chute is closed, the open end of the fulcrum sliding chute points to the center of the rigidity-variable chassis, two outer walls of the fulcrum sliding chute are correspondingly abutted with a linear spring module respectively, the linear spring module is slidably arranged on the rigidity-variable chassis, and the rigidity-variable chassis is driven by the main driving mechanism to rotate relative to the second joint shell; the rigidity adjusting mechanism comprises a rigidity adjusting driver, a steel wire rope transmission assembly, a translation sliding block, an output end cover and a third cam bearing follower; the rigidity adjusting driver is installed on the output shell, the output end cover is connected with the second joint shell, the translation sliding block is driven by a steel wire rope in the steel wire rope transmission assembly to slide relative to the output end cover, the steel wire rope of the steel wire rope transmission assembly is driven by the rigidity adjusting driver to move, and the third cam bearing follower is installed on the lower surface of the translation sliding block and limited in the fulcrum sliding groove to slide.
Compared with the prior art, the invention has the beneficial effects that:
the invention utilizes the two-stage lever amplification principle, has a large rigidity adjusting range (theoretically, the variable rigidity range from 0 to infinity can be realized), and the joint can realize the variable rigidity range of 150 plus 15000 Nm/rad.
The joint stiffness is decoupled from the joint load, the stiffness value is slightly influenced by the joint load, and the flexible adjustment of the joint stiffness under different load conditions can be ensured; the rigidity adjusting module and the rigidity adjusting mechanism are compact in design, and have the advantages of large output force, high rigidity adjusting response speed and low rigidity adjusting energy consumption, the elastic module lever assemblies are symmetrically arranged in pairs, the bearing capacity of the joint is effectively improved, additional bending moment inside the joint can be eliminated, the reliability of the joint is improved, the linear spring module replaces a torsion spring, and is good in stability and slidable, so that the rigidity curve of the joint has the advantages of being good in linearity, low in hysteresis and good in stability.
The variable-rigidity mechanical arm can meet the requirement of safe interaction of a cooperative mechanical arm, can adjust rigidity in real time according to different operation task requirements, and can realize wider adaptability. The invention can realize the four-degree-of-freedom flexible joint mechanical arm imitating the upper limbs of a human body, and has the advantages of large rigidity adjusting range, quick rigidity adjusting response and good flexibility (high rigidity curve linearity and small hysteresis), thereby realizing flexible operation and man-machine safety cooperation in an open environment.
The technical scheme of the invention is further explained by combining the drawings and the embodiment:
drawings
FIG. 1 is a perspective view of a variable stiffness robotic arm of the present invention;
FIG. 2 is a perspective view of the base joint;
FIG. 3 is a front cross-sectional view of FIG. 2;
FIG. 4 is a view of a cam follower in relation to a cam plate;
FIG. 5 is a schematic view of an elastic module;
FIG. 6 is a schematic view of a linear spring module;
FIG. 7 is a schematic view of the chute of the first lever assembly;
FIG. 8 is a cross-sectional view of an elastomeric module;
FIG. 9 is a schematic diagram of a stiffening module;
FIG. 10 is a diagram showing the arrangement relationship between the stiffness adjusting driver and the bevel gear pair;
FIG. 11 is a perspective view of the main drive module;
FIG. 12 is a view of the connection of the return shaft and the docking rod;
FIG. 13 is a perspective view of the end joint;
FIG. 14 is a front cross-sectional view of FIG. 13;
FIG. 15 is a schematic view of a spring mechanism;
FIG. 16 is a schematic view of a linear spring module;
FIG. 17 is a cross-sectional view of the resilient mechanism;
FIG. 18 is a perspective view of a stiffness adjustment mechanism;
FIG. 19 is a front cross-sectional view of the stiffness adjustment mechanism;
FIG. 20 is a perspective view of the main drive mechanism;
FIG. 21 is a layout view of an elastomeric diaphragm and a four-point contact bearing;
FIG. 22 is a schematic diagram of the varying stiffness of the base joint;
fig. 23 is a schematic view of the operation of the elastomeric module and the first cam bearing follower.
Detailed Description
Referring to fig. 1 to 4, 13 and 14, a multi-degree-of-freedom variable-stiffness joint robot arm according to the present embodiment includes a mounting base 1, a base joint 3, three end joints 5, and four links;
the mounting seat 1 is mounted on an existing linear sliding table 6, the input end of a base joint 3 is connected with the mounting seat 1, the output end of the base joint 3 is connected with a first connecting rod 2-1, the first connecting rod 2-1 is connected with the input end of a first end joint 5, the output end of the first end joint 5 is connected with a second connecting rod 2-2, the second connecting rod 2-2 is connected with the input end of a third end joint 5, the output end of the third end joint 5 is connected with a third connecting rod 2-3, the third connecting rod 2-3 is connected with the input end of a fourth end joint 5, and the output end of the fourth end joint 5 is connected with a fourth connecting rod 2-4;
the four connecting rods are respectively a first connecting rod 2-1, a second connecting rod 2-2, a third connecting rod 2-3 and a fourth connecting rod 2-4; the joint configuration described above, in which the axes of the base joint 3, the first end joint 5, and the second end joint 5 intersect at a point, the axis of the third end joint 5 is perpendicular to the axis of the second end joint 5, and the axis of the third end joint 5 is parallel to the axis of the first end joint 5, helps to simplify the kinematic and dynamic modeling analysis of the robot arm.
The base joint 3 comprises a first joint shell 10, a main driving module A, an elastic module and a rigidity adjusting module C; the first joint housing 10 is connected with a first connecting rod 2-1, and the elastic module comprises a variable stiffness base B9, a linear spring module B13 and a first lever assembly B14; the main driving module A is arranged in the first joint shell 10 and can rotate relatively, the elastic module is arranged in the first joint shell 10, and the variable stiffness base B9 is driven by the output end of the main driving module A to rotate; two first lever assemblies B14 which are arranged in an axial symmetry mode are rotatably arranged on the stiffness changing base B9, each first lever assembly B14 is provided with a sliding groove B14-1, one end of each sliding groove B14-1 is open, the other end of each sliding groove B14-1 is closed, the two openings are oppositely arranged, two outer walls of each sliding groove B14-1 respectively and correspondingly abut against a linear spring module B13, and the linear spring module B13 is slidably arranged on the stiffness changing base B9; the rigidity adjusting module C comprises a rigidity adjusting driver C17, a bevel gear pair C22, a cam disc seat C21, a cam disc C20, a rigidity adjusting slider C18 and a first cam bearing follower C15; the steel adjusting driver C17 is installed on the first joint housing 10, the output end of the steel adjusting driver C17 is connected with a bevel gear of a bevel gear pair C22, the other bevel gear of the bevel gear pair C22 is installed on a cam disc seat C21, the cam disc seat C21 is rotatably arranged in the first joint housing 10, a cam disc C20 is fixedly connected with the cam disc seat C21, two steel adjusting sliders C18 are slidably arranged in the first joint housing 10, two opposite side surfaces of each steel adjusting slider C18 are respectively provided with a first cam bearing follower C15, the cam disc C20 is provided with two arc holes C20-1 which are centrosymmetric, wherein the two first cam bearing followers C15 are respectively limited in the two arc holes C20-1 and can slide relatively, and the other two first cam bearing followers C15 are respectively limited in the two sliding grooves B14-1 and can slide relatively; the arm is installed on sharp slip table 6, can carry out height control in the vertical direction, is convenient for install and experimental operation.
The three tail end joints have the same structure, and each tail end joint comprises a second joint shell 11, a main driving mechanism H, an elastic mechanism and a rigidity adjusting mechanism F; the second connecting rod 2-2, the third connecting rod 2-3 and the fourth connecting rod 2-4 are respectively connected with a second joint shell 11 of a corresponding tail end joint; the elastic mechanism comprises a variable stiffness chassis E18, a linear spring module E19 and a second lever assembly E15; the main driving mechanism H is arranged in the second joint shell 11 and can rotate relatively, the first connecting rod 2-1, the second connecting rod 2-2 and the third connecting rod 2-3 are further fixedly connected with the main driving mechanism H corresponding to the tail end joint respectively, the elastic mechanism is arranged in the second joint shell 11, the second lever assembly E15 is rotatably arranged on the variable stiffness chassis E18 in a biased mode, the second lever assembly E15 is provided with a fulcrum sliding groove E15-1, one end of the fulcrum sliding groove E15-1 is open, the other end of the fulcrum sliding groove E15-1 is closed, the open end of the fulcrum sliding groove E15-1 points to the center of the variable stiffness chassis E18, two outer walls of the fulcrum sliding groove E15-1 are correspondingly abutted against a linear spring module E19 respectively, the linear spring module E19 is slidably arranged on the variable stiffness chassis E18, and the variable stiffness chassis E18 is driven by the main driving mechanism H to rotate relatively to the second joint shell 11;
the rigidity adjusting mechanism F comprises a rigidity adjusting driver F23, a steel wire rope transmission assembly F22, a translation sliding block F20, an output end cover F21 and a third cam bearing follower F16; the rigidity adjusting driver F23 is installed on the output shell F21, the output end cover F21 is connected with the second joint shell 11, the translation sliding block F20 is driven by a steel wire rope in the steel wire rope transmission component F22 to slide relative to the output end cover F21, the steel wire rope of the steel wire rope transmission component F22 is driven by the rigidity adjusting driver F23 to move, and the third cam bearing follower F16 is installed on the lower surface of the translation sliding block F20 and limited in the fulcrum sliding groove E15-1 to slide in an internal mode.
The stiffness adjusting driver C17 and the bevel gear pair C22 convert the rotation in the horizontal direction into the rotation in the vertical direction and perform two-stage deceleration. The second joint shell 11 can be divided into an upper joint shell 11-1 and a lower joint shell 11-2, the upper joint shell 11-1 and the lower joint shell 11-2 are connected together through bolts, an output end cover F21 is connected with the upper joint shell 11-1 through bolts, a main driving mechanism H is connected with the lower joint shell 11-2, the rigidity adjustment is realized through steel wire rope transmission, the arrangement is flexible, and large force/moment can be generated in a compact space.
Further, as shown in fig. 5 and 6, each of the linear spring modules B13 includes a first linear spring B13-2, a first sleeve B13-3 and a first slide rail B13-4; the first sleeve B13-3 is arranged on a die holder B13-1 in a sliding mode through a sliding rail B13-4, the die holder B13-1 is installed on a rigidity-variable base B9, a first linear spring B13-2 is arranged in the first sleeve B13-3, two ends of the first linear spring B13-2 are respectively abutted against a flange of the die holder B13-1 and the bottom of the first sleeve B13-3, and a rotatable second cam bearing follower B13-3-1 abutted against the first lever assembly B14 is arranged at the end of the first sleeve B13-3.
As shown in fig. 15 and 16, each of the linear spring modules E19 includes a second linear spring E19-2, a second sleeve E19-3 and a second slide rail E19-4; the second sleeve E19-3 is arranged on the variable stiffness chassis E18 in a sliding mode through a second sliding rail E19-4, a second linear spring E19-2 is arranged in the second sleeve E19-3, two ends of the second linear spring E19-2 respectively abut against a flange of the variable stiffness chassis E18 and the bottom of the second sleeve E19-3, and a rotatable fourth cam bearing follower E19-5 abutting against the second lever assembly E15 is arranged at the end portion of the second sleeve E19-3.
Further, as shown in fig. 7 and 8, the first lever assembly B14 includes a first lever shaft B14-2 and a first support flange B14-3; the sliding groove B14-1 is installed at one end of a first lever shaft B14-2, the other end of the first lever shaft B14-2 is rotatably installed on a rigidity-variable base B9, a first supporting flange B14-3 is installed on a first lever shaft B14-2 below the sliding groove B14-1, and a second cam bearing follower B13-3-1 on the first sleeve B13-3 abuts against the side face of a first supporting flange B14-3; the first lever shaft B14-2 is mounted on a variable stiffness base B9 through a first bearing seat B14-5.
As shown in FIG. 17, the second lever assembly E15 includes a second lever shaft E15-2 and a second support flange E15-3; the fulcrum sliding groove E15-1 is installed at one end of a second lever shaft E15-2, the other end of the second lever shaft E15-2 is rotatably installed on a rigidity-variable chassis E18, a second supporting flange E15-3 is installed at the bottom of the fulcrum sliding groove E15-1, and a fourth cam bearing follower E19-5 on a second sleeve E19-3 abuts against the side face of the second supporting flange E15-3. The lever shaft E15-2 is mounted on a variable-rigidity chassis E18 through a second bearing seat E15-4 and a deep groove ball bearing E15-4
The principle of two-stage lever amplification is adopted, as shown in fig. 22: that is, with a given stiffness of the first linear spring B13-2, the amplification ratio of the mechanism is changed by adjusting the position of the intermediate fulcrum (the first cam bearing follower C15 below the slider), thereby changing the equivalent output stiffness of the joint. Theoretically, as X increases from 0 to L, the joint stiffness will decrease from ∞ to 0. When X is 0, the fulcrum is at the position of the rotation axis (the left large black point in fig. 22, the first lever axis B14-2), the moment arm is 0, the required moment is infinite, and the equivalent stiffness is infinite. When X is increased, the moment arm is increased, the force required for reaching the same moment is decreased, and the equivalent output rigidity is decreased. The simplified design diagram is shown in fig. 23, the linear spring module B13 and the first lever assembly B14 adopt a bilateral symmetry structure design, so that on one hand, the bearing capacity of the joint can be increased in a limited design space, on the other hand, an additional bending moment caused by an asymmetric structure during loading can be eliminated, and the reliability and stability of the internal structure of the joint can be improved. The first linear spring B13-2 is used for replacing a torsion spring, so that the joint stiffness curve has better linearity and stability. Fig. 23 shows that the stiffness varying base B9 of the entire elastic module, when driven by the main driving module a to rotate clockwise, drives the sliding slot B14-1 to rotate, acting on the two first cam bearing followers C15, and at this time, the first linear spring B13-2 corresponding to the linear spring module B13 is acted, as indicated by an arrow. The second linear spring E19-2 is arranged in the second sleeve E19-3, the compression of the second linear spring E19-2 generates elastic force, the elastic force acts on the second rod lever assembly and is equivalent to torsion force, and the second linear spring replaces a torsion spring, so that the joint stiffness curve has better linearity and stability.
The first cam bearing follower C15 slides in the U-shaped groove as a fulcrum, constituting a lever amplification mechanism. When the fulcrum (first cam bearing follower C15) is at the leftmost end of the U-shaped groove, as shown in fig. 22, a rigid connection is formed, and the equivalent output rigidity is maximized. When the fulcrum moves rightward, the equivalent output stiffness becomes gradually smaller.
The linear spring module B13 is shown in fig. 6. The first sleeves B13-3 are respectively arranged at the left and the right, and slide through the first slide rails B13-4 and form an equivalent torsion mechanism together with the first lever assembly B14. The first sleeve B13-3 is provided with a first linear spring B13-2, the compression of which generates an elastic force, equivalent to a torsion force. The rigidity adjusting slide block C18 is connected with an output disc C17-4 through a first cross roller guide rail C16, and a first slide rail B13-4 is a cross roller guide rail; the translation slide block F20 is connected with the output end cover F21 through a second cross roller guide rail F24, and a second slide rail E19-4 is a cross roller guide rail. The crossed roller guide rail with low friction coefficient is adopted for supporting, so that the friction force generated when the second linear spring E19-2 deforms is effectively reduced, the linearity of a joint stiffness curve can be improved, the response speed of stiffness adjustment is increased, and the joint hysteresis can be reduced. The first slide rail B13-4 and the second slide rail E19-4 are crossed roller guide rails, and crossed roller guide rails are arranged in the linear spring module B13 and the linear spring module E19, so that the friction force generated during the deformation motion of the spring is effectively reduced, the linearity of a joint stiffness curve can be improved, the joint hysteresis is reduced, and the stability is good.
Considering that only one elastic mechanism E and a pair of linear spring modules E19 generate additional bending moment due to the asymmetric structure, an elastic diaphragm K10 and a four-point contact bearing K11 are added, as shown in FIGS. 17 and 21, an elastic diaphragm K10 is arranged on the bottom surface of a variable stiffness chassis E18, an elastic diaphragm K10 is connected with the output end of a main driving mechanism H, and the edge of the variable stiffness chassis E18 is connected with the joint housing 11 through a four-point contact bearing K11. The inner ring of the four-point contact bearing K11 is mounted on the variable stiffness chassis E18 through a four-point contact bearing seat K12, the outer ring of the four-point contact bearing K11 is mounted on the joint shell 11, and the variable stiffness chassis E18 can rotate relative to the joint shell 11. The four-point contact bearing is a four-point contact equal-section thin-wall bearing. The elastic diaphragm K10 is matched with a four-point contact equal-section thin-wall bearing for use, so that the additional bending moment in the joint can be transmitted to the second joint shell 11, the adverse effect of the additional bending moment on a precision device is avoided, and the measurement precision and the structural stability of the sensor are improved.
Further, as shown in fig. 3 and 11, the main drive module a includes a first main motor a1, a first motor flange a2, a first cross roller bearing A3, and a first harmonic reducer; the first main motor A1 is mounted on a first motor flange A2, a first motor flange A2 is fixedly connected with an inner ring of a first cross roller bearing A3, a first joint shell 10 is fixedly connected with an outer ring of the first cross roller bearing A3, a shaft of a first main motor A1 is fixedly connected with a first wave generator A4 of a first harmonic speed reducer, a first motor flange A2 is connected with a first rigid wheel A6 of the first harmonic speed reducer, a variable stiffness base B9 is driven to rotate by a first flexible wheel A5 of the first harmonic speed reducer, and a first rigid wheel A6 and the variable stiffness base B9 rotate relatively; the main driving module A is fixed by a first rigid wheel A6 and driven by a first flexible wheel A5;
as shown in fig. 14 and 20, the main drive mechanism H includes a second main motor H1, a second motor flange H2, a second cross roller bearing H6, and a second harmonic reducer; the second main motor H1 is mounted on a second motor flange H2, a first connecting rod 2-1, a second connecting rod 2-2 and a third connecting rod 2-3 are fixedly connected with a second motor flange H2 of a corresponding end joint respectively, the shaft of the second main motor H1 is fixedly connected with a second wave generator H5 of a second harmonic reducer, a second motor flange H2 is connected with a second flexible wheel H3 of the second harmonic reducer, a second flexible wheel H3 is fixedly connected with the inner ring of a second cross roller bearing H6, a second joint shell 11 is fixedly connected with the outer ring of the second cross roller bearing H6, a variable stiffness chassis E18 is driven to rotate by a second rigid wheel H4 of the second harmonic reducer, and a second rigid wheel H4 is fixedly connected with a variable stiffness chassis E18. The main driving mechanism H is driven in a mode that a second rigid wheel H4 outputs and a second flexible wheel H3 is fixed;
further, as shown in fig. 9 and 10, the stiffness adjusting driver C17 comprises a stiffness adjusting motor C17-1, a stiffness adjusting motor housing C17-2, a first planetary reducer C17-3 and an output disc C17-4;
a rigidity adjusting motor shell C17-2 is connected with an output disc C17-4, a rigidity adjusting motor C17-1 is connected with an input end of a first planetary reducer C17-3, an output end of the first planetary reducer C17-3 is connected with a bevel gear of a bevel gear pair C22, a cam disc seat C21 is rotatably connected with the output disc C17-4 through a bearing, and the output disc C17-4 is connected with a first joint shell 10;
as shown in fig. 18 and 19, the rigidity adjusting driver F23 includes a rigidity adjusting motor F23-1, a rigidity adjusting base F23-2, and a second planetary gear F23-3; the rigidity adjusting base F23-2 is connected with an output end cover F21, a rigidity adjusting motor F23-1 is connected with the input end of a second planetary reducer F23-3, and the output of the second planetary reducer F23-3 drives a steel wire rope in a steel wire rope transmission assembly F22 to move.
As an example, as shown in fig. 18 and 19, the wire rope transmission assembly F22 includes a driving wheel F22-1, two guide wheels F22-2, and four fixed pulleys F22-3; an output shaft of the second planetary reducer F23-3 is provided with a driving wheel F22-1, the outer side surface of the driving wheel F22-1 is provided with two positioning holes F22-1-1, an output end cover F21 positioned at two sides of the driving wheel F22-1 is respectively and rotatably provided with a guide wheel F22-2 and two fixed pulleys F22-3, the guide wheel F22-2 is parallel to the axial direction of the driving wheel F22-1, the steel wire rope is perpendicular to the axial direction of a fixed pulley F22-3, the axial direction of the fixed pulley F22-3 is parallel to the axial direction of a second main motor H1, two ends of the steel wire rope F22-0 are respectively fixed in two positioning holes F22-1-1, and the steel wire rope reversely bypasses two main wheel grooves of a driving wheel F22-1 and then is lapped in guide grooves of two guide wheels F22-2 and four fixed pulleys F22-3 and fixedly connected with a translation sliding block F20. Preferably, the steel wire rope F22-0 can be a steel wire rope or two steel wire ropes, when one steel wire rope is adopted, one end of the steel wire rope is fixed in one positioning hole F22-1-1, penetrates out of a steel wire locker F22-4 at the end part of the rigidity adjusting base F23-2 through a center hole of the driving wheel F22-1, and is locked by the steel wire locker F22-4. Then a steel wire rope F22-0 is wound (half-circle wound) on a driving wheel groove of a driving wheel F22-1, is led out from the lower part and lapped on one guide wheel F22-2 and two fixed pulleys F22-3, then passes through a through hole of a translation sliding block F20 and is fixed with the translation sliding block F20, then is sequentially lapped on the other two fixed pulleys F22-3 and the other guide wheel F22-2, is led out from the lower part of the other guide wheel F22-2 and is wound on the driving wheel groove of the driving wheel F22-1, and finally the other end passes through a central hole of the other positioning hole F22-1 and the driving wheel F22-1 and is locked by a steel wire locker F22-4. When the driving wheel F22-1 is driven by the rigidity adjusting motor F23-1 to rotate forward and backward, one part of the steel wire rope F22-0 is tensioned, and the other part of the steel wire rope is loosened, so that the forward and reverse translation of the translation sliding block F20 is realized. When two steel wire ropes are adopted, two ends of the two steel wire ropes respectively penetrate through two positioning holes F22-1-1 and a central hole of a driving wheel F22-1 to penetrate out of a steel wire locker F22-4 at the end part of a rigidity adjusting base F23-2, the steel wire ropes are locked by the steel wire locker F22-4, the two steel wire ropes respectively reversely wind a driving wheel groove of the driving wheel F22-1 and are led out to be successively lapped on a guide wheel F22-2 and two fixed pulleys F22-3, and the other two ends of the two steel wire ropes are fixed in a through hole of a translation sliding block F20. Similarly, when the driving wheel F22-1 is driven by the rigidity adjusting motor F23-1 to rotate positively and negatively, one section of the two sections of steel wire ropes F22-0 is tensioned, and the other section of the two sections of steel wire ropes is loosened, so that the forward and reverse translation of the translation sliding block F20 is realized.
As shown in fig. 3, 8 and 12, a first torque sensor A8 is further connected to the first flexspline a5 of the first harmonic reducer, and the first torque sensor A8 is connected to the variable stiffness base B9; a return shaft D1 and a first torsion angle magnetic encoder D2 are arranged in a hollow cavity of the variable stiffness base B9, one end of the return shaft D1 is rotatably connected with the variable stiffness base B9, the other end of the return shaft D1 is connected with a butt joint rod D3, the butt joint rod D3 is fixedly connected with an output disc C17-4, a magnetic ring of the first torsion angle magnetic encoder D2 is installed on the return shaft D1, and a reading head of the first torsion angle magnetic encoder D2 is installed on the variable stiffness base B9 in the hollow cavity; the first torsion angle magnetic encoder D2 can satisfy the precise trajectory control of the first main motor a1 and the stiffness adjusting motor C17-1.
As shown in fig. 14, a second torque sensor 12 is further connected to a second rigid wheel H4 in the second harmonic reducer, the second torque sensor 12 is connected to a variable stiffness chassis E18, as shown in fig. 20, a second torsion angle magnetic encoder 13 and an encoder base 14 are further disposed between the second joint housing 11 and the second torque sensor 12, the encoder base 14 is connected to the second torque sensor 12, a magnetic ring of the second torsion angle magnetic encoder 13 is mounted on the encoder base 14, a reading head of the second torsion angle magnetic encoder 13 is mounted on the second joint housing 11, and the encoder base 14 is connected to an elastic diaphragm K10. The second torsion angle magnetic encoder 13 can meet the accurate track control of a second main motor A1 and a rigidity adjusting motor F23-1, and the integration of a torque sensor can realize active and passive combined impedance control, so that the joint obtains better compliance characteristics.
In another embodiment, as shown in FIG. 5, the slide groove B14-1 and the fulcrum slide groove E15-1 are both U-shaped grooves, and the other two first cam bearing followers C15 are retained in the two slide grooves B14-1 and supported on the upper surfaces of the first support flanges B14-3; as shown in FIG. 15, the third cam bearing follower F16 is trapped within the fulcrum chute E15-1 and supported on the upper surface of the second support flange E15-3. The U-shaped groove is convenient to process and use, and meets the actual requirements. The first rigid wheel A6 and the variable stiffness base B9 rotate relatively through the third crossed roller bearing A7, and the crossed roller bearing with low friction coefficient is adopted for supporting, so that the rigidity adjusting device has the advantages of high rigidity adjusting response speed and low rigidity adjusting energy consumption.
The rigidity adjusting principle and characteristic are as follows: and the rigidity of the rigidity adjusting module C is adjusted, the rigidity adjusting driver C17 drives the bevel gear pair C22 to convert the rotation in the horizontal direction into the rotation in the vertical direction and increase the output torque, then the cam disc C20 converts the rotation in the vertical direction into the linear motion in the horizontal direction, and finally the two linear rigidity adjusting sliders C18 are driven to realize horizontal opening and closing. The first cam bearing follower C15 which acts as a fulcrum is mounted on the rigidity adjusting slider C18, and the rigidity can be adjusted by opening and closing the two rigidity adjusting sliders C18. The whole joint realizes half amplification of two poles, and the rigidity adjusting motor is provided with speed reduction, which is a first level; bevel gear pair C22, which is two-stage; the cam disc C20 and horizontal slider C18 also have an amplification effect, so called two-stage half amplification, and a strong driving force of 700N can be provided by one side. The rigidity adjusting module C realizes larger driving force/moment in a limited space, so that the rigidity adjusting response speed of the joint is obviously improved.
And (3) adjusting the rigidity of the rigidity adjusting mechanism F, and driving a steel wire rope transmission assembly F22 by a rigidity adjusting driver F23 to convert the rotation in the horizontal direction into the movement of the translation sliding block F20 in the horizontal direction and increase the output torque at the same time. And a third cam bearing follower F16 which plays a role of a fulcrum is arranged on the translation slide block F20, and the adjustment of rigidity can be realized through the reciprocating movement of the translation slide block F20 in the fulcrum sliding groove E15-1. The rigidity adjusting motor F23-1 is speed-reduced, the steel wire rope transmission assembly F22 plays a role in reversing, and strong driving force of 700N can be provided by one side. The rigidity adjusting mechanism F realizes larger driving force/moment in a limited space, so that the rigidity adjusting response speed of the joint is obviously improved.
The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.
Claims (10)
1. A multi-freedom-degree variable-rigidity joint mechanical arm is characterized in that: the device comprises a mounting seat (1), a base joint (3), three tail end joints (5) and four connecting rods;
the mounting seat (1) is mounted on an existing linear sliding table (6), the input end of a base joint (3) is connected with the mounting seat (1), the output end of the base joint (3) is connected with a first connecting rod (2-1), the first connecting rod (2-1) is connected with the input end of a first tail joint (5), the output end of the first tail joint (5) is connected with a second connecting rod (2-2), the second connecting rod (2-2) is connected with the input end of a third tail joint (5), the output end of the third tail joint (5) is connected with a third connecting rod (2-3), the third connecting rod (2-3) is connected with the input end of a fourth tail joint (5), and the output end of the fourth tail joint (5) is connected with a fourth connecting rod (2-4);
the base joint (3) comprises a first joint shell (10), a main driving module (A), an elastic module and a rigidity adjusting module (C); the first joint shell (10) is connected with the first connecting rod (2-1);
the elastic module comprises a variable stiffness base (B9), a linear spring module (B13) and a first lever assembly (B14);
the main driving module (A) is arranged in the first joint shell (10) and can rotate relatively, the elastic module is arranged in the first joint shell (10), and the variable stiffness base (B9) is driven by the output end of the main driving module (A) to rotate; two first lever assemblies (B14) which are arranged in an axial symmetry mode are rotatably arranged on the stiffness changing base (B9), each first lever assembly (B14) is provided with a sliding groove (B14-1), one end of each sliding groove (B14-1) is open, the other end of each sliding groove is closed, the two openings are oppositely arranged, two outer walls of each sliding groove (B14-1) are correspondingly abutted against a linear spring module (B13), and the linear spring module (B13) is slidably arranged on the stiffness changing base (B9);
the rigidity adjusting module (C) comprises a rigidity adjusting driver (C17), a bevel gear pair (C22), a cam disc seat (C21), a cam disc (C20), a rigidity adjusting slider (C18) and a first cam bearing follower (C15); the rigidity adjusting driver (C17) is installed on the first joint shell (10), the output end of the rigidity adjusting driver (C17) is connected with a bevel gear of a bevel gear pair (C22), the other bevel gear of the bevel gear pair (C22) is installed on a cam disc seat (C21), the cam disc seat (C21) is rotatably arranged in the first joint shell (10), the cam disc (C20) is fixedly connected with the cam disc seat (C21), two rigidity adjusting sliding blocks (C18) are slidably arranged in the first joint shell (10), two opposite side surfaces of each rigidity adjusting sliding block (C18) are respectively provided with a first cam bearing follower (C15), the cam disc (C20) is provided with two arc-shaped holes (C20-1) which are centrosymmetric, wherein the two first cam bearing followers (C15) are respectively limited in the two arc-shaped holes (C20-1) and can relatively slide, and the other two first cam bearing followers (C15) are respectively limited in the two sliding grooves (14-671) and can mutually limit in the two sliding grooves (671) Sliding;
each tail end joint comprises a second joint shell (11), a main driving mechanism (H), an elastic mechanism and a rigidity adjusting mechanism (F); the second connecting rod (2-2), the third connecting rod (2-3) and the fourth connecting rod (2-4) are respectively connected with a second joint shell (11) of the corresponding tail end joint;
the elastic mechanism comprises a variable stiffness chassis (E18), a linear spring module (E19) and a second lever assembly (E15);
the main driving mechanism (H) is arranged in the second joint shell (11) and can rotate relatively, and the first connecting rod (2-1), the second connecting rod (2-2) and the third connecting rod (2-3) are also fixedly connected with the main driving mechanism (H) of the joint at the corresponding tail end respectively; the elastic mechanism is arranged in the second joint shell (11), a second lever assembly (E15) is rotatably biased on the variable stiffness chassis (E18), the second lever assembly (E15) is provided with a fulcrum sliding groove (E15-1), one end of the fulcrum sliding groove (E15-1) is open, the other end of the fulcrum sliding groove is closed, the open end of the fulcrum sliding groove points to the center of the variable stiffness chassis (E18), two outer walls of the fulcrum sliding groove (E15-1) are respectively and correspondingly abutted against a linear spring module (E19), the linear spring module (E19) is slidably arranged on the variable stiffness chassis (E18), and the variable stiffness chassis (E18) is driven by the main driving mechanism (H) to rotate relative to the second joint shell (11);
the rigidity adjusting mechanism (F) comprises a rigidity adjusting driver (F23), a steel wire rope transmission assembly (F22), a translation sliding block (F20), an output end cover (F21) and a third cam bearing follower (F16); the rigidity adjusting driver (F23) is installed on an output end cover (F21), the output end cover (F21) is connected with the second joint shell (11), the translation sliding block (F20) is driven by a steel wire rope in the steel wire rope transmission component (F22) to slide relative to the output end cover (F21), the steel wire rope of the steel wire rope transmission component (F22) is driven by the rigidity adjusting driver (F23) to move, and the third cam bearing follower (F16) is installed on the lower surface of the translation sliding block (F20) and limited in the fulcrum sliding groove (E15-1) to slide in an internal mode.
2. The multi-degree-of-freedom variable-stiffness joint mechanical arm according to claim 1, wherein: each linear spring module (B13) comprises a first linear spring (B13-2), a first sleeve (B13-3) and a first sliding rail (B13-4);
the first sleeve (B13-3) is arranged on a die holder (B13-1) in a sliding mode through a sliding rail (B13-4), the die holder (B13-1) is installed on a rigidity-variable base (B9), a first linear spring (B13-2) is arranged in the first sleeve (B13-3), two ends of the first linear spring (B13-2) are respectively abutted against a flange of the die holder (B13-1) and the bottom of the first sleeve (B13-3), and a rotatable second cam bearing follower (B13-3-1) abutted against the first lever assembly (B14) is arranged at the end of the first sleeve (B13-3);
each linear spring module (E19) comprises a second linear spring (E19-2), a second sleeve (E19-3) and a second slide rail (E19-4); the second sleeve (E19-3) is arranged on the variable stiffness chassis (E18) in a sliding mode through a second sliding rail (E19-4), a second linear spring (E19-2) is arranged in the second sleeve (E19-3), two ends of the second linear spring (E19-2) respectively abut against a flange of the variable stiffness chassis (E18) and the bottom of the second sleeve (E19-3), and a rotatable fourth cam bearing follower (E19-5) abutting against the second lever assembly (E15) is arranged at the end of the second sleeve (E19-3).
3. The multi-degree-of-freedom variable-stiffness joint mechanical arm according to claim 2, wherein: the first lever assembly (B14) comprises a first lever shaft (B14-2) and a first support flange (B14-3); the sliding groove (B14-1) is installed at one end of a first lever shaft (B14-2), the other end of the first lever shaft (B14-2) is rotatably installed on the rigidity-variable base (B9), a first supporting flange (B14-3) is installed on the first lever shaft (B14-2) below the sliding groove (B14-1), and a second cam bearing follower (B13-3-1) on the first sleeve (B13-3) abuts against the side face of the first supporting flange (B14-3);
the second lever assembly (E15) comprises a second lever shaft (E15-2) and a second support flange (E15-3); the fulcrum sliding groove (E15-1) is installed at one end of a second lever shaft (E15-2), the other end of the second lever shaft (E15-2) is rotatably installed on the rigidity-variable chassis (E18), a second supporting flange (E15-3) is installed at the bottom of the fulcrum sliding groove (E15-1), and a fourth cam bearing follower (E19-5) on a second sleeve (E19-3) abuts against the side face of the second supporting flange (E15-3).
4. The variable-stiffness joint mechanical arm with multiple degrees of freedom according to claim 1, 2 or 3, wherein: the main drive module (A) comprises a first main motor (A1), a first motor flange (A2), a first cross roller bearing (A3) and a first harmonic reducer; the first main motor (A1) is installed on a first motor flange (A2), the first motor flange (A2) is fixedly connected with an inner ring of a first crossed roller bearing (A3), a first joint shell (10) is fixedly connected with an outer ring of the first crossed roller bearing (A3), a shaft of the first main motor (A1) is fixedly connected with a first wave generator (A4) of a first harmonic speed reducer, the first motor flange (A2) is connected with a first rigid wheel (A6) of the first harmonic speed reducer, a variable stiffness base (B9) is driven to rotate by a first flexible wheel (A5) of the first harmonic speed reducer, and the first rigid wheel (A6) and the variable stiffness base (B9) rotate relatively;
the main driving mechanism (H) comprises a second main motor (H1), a second motor flange (H2), a second crossed roller bearing (H6) and a second harmonic reducer; the second main motor (H1) is arranged on a second motor flange (H2), the first connecting rod (2-1), the second connecting rod (2-2) and the third connecting rod (2-3) are respectively fixedly connected with a second motor flange (H2) corresponding to the tail end joint,
the shaft of a second main motor (H1) is fixedly connected with a second wave generator (H5) of a second harmonic speed reducer, a second motor flange (H2) is connected with a second flexible gear (H3) of the second harmonic speed reducer, the second flexible gear (H3) is fixedly connected with the inner ring of a second crossed roller bearing (H6), a second joint shell (11) is fixedly connected with the outer ring of the second crossed roller bearing (H6), a variable-rigidity chassis (E18) is driven by a second rigid gear (H4) of the second harmonic speed reducer to rotate, and a second rigid gear (H4) is fixedly connected with the variable-rigidity chassis (E18).
5. The multi-degree-of-freedom variable-stiffness joint mechanical arm according to claim 4, wherein: the rigidity adjusting driver (C17) comprises a rigidity adjusting motor (C17-1), a rigidity adjusting motor shell (C17-2), a first planetary reducer (C17-3) and an output disc (C17-4);
the rigidity adjusting motor shell (C17-2) is connected with an output disc (C17-4), the rigidity adjusting motor (C17-1) is connected with the input end of a first planetary reducer (C17-3), the output end of the first planetary reducer (C17-3) is connected with a bevel gear of a bevel gear pair (C22), a cam disc seat (C21) is rotatably connected with the output disc (C17-4) through a bearing, and the output disc (C17-4) is connected with the first joint shell (10);
the rigidity adjusting driver (F23) comprises a rigidity adjusting motor (F23-1), a rigidity adjusting base (F23-2) and a second planetary reducer (F23-3); the rigidity adjusting base (F23-2) is connected with the output end cover (F21), the rigidity adjusting motor (F23-1) is connected with the input end of the second planetary reducer (F23-3), and the output of the second planetary reducer (F23-3) drives the steel wire rope in the steel wire rope transmission assembly (F22) to move.
6. The multi-degree-of-freedom variable-stiffness joint mechanical arm according to claim 5, wherein: the steel wire rope transmission assembly (F22) comprises a driving wheel (F22-1), two guide wheels (F22-2) and four fixed pulleys (F22-3); a driving wheel (F22-1) is mounted on an output shaft of a second planetary reducer (F23-3), two positioning holes (F22-1-1) are formed in the outer side surface of the driving wheel (F22-1), an output end cover (F21) positioned on two sides of the driving wheel (F22-1) is respectively rotatably provided with a guide wheel (F22-2) and two fixed pulleys (F22-3), the guide wheel (F22-2) is axially parallel to the driving wheel (F22-1) and is axially perpendicular to the fixed pulleys (F22-3), the fixed pulleys (F22-3) are axially parallel to a second main motor (H1), two ends of a steel wire rope (F22-0) are respectively fixed in the two positioning holes (F22-1-1), and the steel wire rope reversely winds around two main wheel grooves of the driving wheel (F22-1) and then is lapped in the two guide wheels (F22-2) and guide grooves of the four fixed pulleys (F22-3) The inner part is fixedly connected with a translation slide block (F20).
7. The multi-degree-of-freedom variable-stiffness joint mechanical arm according to claim 5, wherein: the rigidity adjusting slide block (C18) is connected with an output disc (C17-4) through a first cross roller guide rail (C16), and a first slide rail (B13-4) is a cross roller guide rail; the translation sliding block (F20) is connected with the output end cover (F21) through a second crossed roller guide rail (F24), and the second sliding rail (E19-4) is a crossed roller guide rail.
8. The multi-degree-of-freedom variable-stiffness joint mechanical arm according to claim 7, wherein: an elastic diaphragm (K10) is mounted on the bottom surface of the variable stiffness chassis (E18), the elastic diaphragm (K10) is connected with the output end of the main driving mechanism (H), and the edge of the variable stiffness chassis (E18) is connected with the second joint shell (11) through a four-point contact bearing (K11).
9. The multi-degree-of-freedom variable-stiffness joint mechanical arm according to claim 8, wherein: a first torque sensor (A8) is connected to a first flexible gear (A5) of the first harmonic reducer, and the first torque sensor (A8) is connected with a variable stiffness base (B9); a return shaft (D1) and a first torsion angle magnetic encoder (D2) are arranged in a hollow cavity of the variable stiffness base (B9), one end of the return shaft (D1) is rotatably connected with the variable stiffness base (B9), the other end of the return shaft (D1) is connected with a butt joint rod (D3), the butt joint rod (D3) is fixedly connected with an output disc (C17-4), a magnetic ring of the first torsion angle magnetic encoder (D2) is installed on the return shaft (D1), and a reading head of the first torsion angle magnetic encoder (D2) is installed on the variable stiffness base (B9) in the hollow cavity;
still be connected with a second torque sensor (12) on second rigid wheel (H4) in the second harmonic reduction gear, second torque sensor (12) are connected with variable rigidity chassis (E18), still arranged second torsion angle magnetic encoder (13) and encoder base (14) between second joint shell (11) and second torque sensor (12), encoder base (14) are connected with second torque sensor (12), the magnetic ring of second torsion angle magnetic encoder (13) is installed on encoder base (14), the reading head of second torsion angle magnetic encoder (13) is installed on second joint shell (11), encoder base (14) are connected with elastic diaphragm (K10).
10. The multi-degree-of-freedom variable-stiffness joint mechanical arm according to claim 3, wherein: the sliding groove (B14-1) and the fulcrum sliding groove (E15-1) are both U-shaped grooves, and the other two first cam bearing followers (C15) are limited in the two sliding grooves (B14-1) and supported on the upper surface of the first support flange (B14-3); the third cam bearing follower (F16) is confined in the fulcrum chute (E15-1) and supported on the upper surface of the second support flange (E15-3).
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| CN113927627B (en) * | 2021-11-15 | 2023-06-16 | 中国科学技术大学 | Active variable-rigidity underactuated redundant robot based on joint rigidity amplifying device |
| CN114679963B (en) * | 2022-04-27 | 2023-03-07 | 中国农业大学 | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method |
| CN117944095A (en) * | 2024-03-25 | 2024-04-30 | 中国科学院长春光学精密机械与物理研究所 | Variable moment type controllable time-variable rigidity flexible base |
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