CN112894780B - Rope-driven wrist module based on three-degree-of-freedom serial-parallel mechanism and application method thereof - Google Patents
Rope-driven wrist module based on three-degree-of-freedom serial-parallel mechanism and application method thereof Download PDFInfo
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- CN112894780B CN112894780B CN202110360411.1A CN202110360411A CN112894780B CN 112894780 B CN112894780 B CN 112894780B CN 202110360411 A CN202110360411 A CN 202110360411A CN 112894780 B CN112894780 B CN 112894780B
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims description 9
- 238000005096 rolling process Methods 0.000 claims abstract description 34
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 238000004804 winding Methods 0.000 claims description 56
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000008878 coupling Effects 0.000 claims description 18
- 238000010168 coupling process Methods 0.000 claims description 18
- 238000005859 coupling reaction Methods 0.000 claims description 18
- 230000003321 amplification Effects 0.000 claims description 11
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 11
- 238000005452 bending Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 238000010009 beating Methods 0.000 claims 2
- 230000008901 benefit Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 9
- CLOMYZFHNHFSIQ-UHFFFAOYSA-N clonixin Chemical compound CC1=C(Cl)C=CC=C1NC1=NC=CC=C1C(O)=O CLOMYZFHNHFSIQ-UHFFFAOYSA-N 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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Classifications
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
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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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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Abstract
The invention discloses a rope-driven wrist module based on a three-degree-of-freedom serial-parallel mechanism, which consists of a three-degree-of-freedom serial-parallel module and a driving and controlling integrated module, wherein the three-degree-of-freedom serial-parallel module comprises a spherical pure rolling parallel mechanism and a tension amplifying mechanism, the spherical pure rolling parallel mechanism realizes two-degree-of-freedom spherical motion of the wrist, a lower platform of the parallel mechanism is designed into one rotational degree of freedom, so that a serial-parallel serial mechanism is formed, and the tension amplifying mechanism ensures that the rigidity is not lost while the mechanism is light; the driving and controlling integrated module is used for integrating the motor, the driver and the controller to form an independent electromechanical system; the invention combines the advantages of rope driving and modularization to design, has the advantages of light weight, reconfigurability, good flexibility and the like, and the degree of freedom configuration of the serial-parallel mechanism is consistent with that of a real wrist, so that the high-fidelity humanoid wrist movement can be realized, and a new design idea is provided for the design of the humanoid service robot wrist.
Description
Technical Field
The invention relates to the technical field of humanoid service robot joints, in particular to a rope-driven wrist module based on a three-degree-of-freedom serial-parallel mechanism and a use method thereof.
Background
The humanoid arm is an important execution system of the humanoid service robot, and along with the increasing complexity of application scenes of the humanoid service, the design of the humanoid arm joint is required to meet higher requirements of flexibility, light weight, reconfigurability and the like. The traditional rigid mechanism is adopted to realize the multi-degree-of-freedom humanoid arm joint at present, and the multi-degree-of-freedom humanoid arm joint has the defects of large mass, poor flexibility, complex structure and the like, and is difficult to meet the requirement of the humanoid arm on working in an unstructured environment.
The rope driving mechanism is a mechanism for transmitting motion and power through ropes, belongs to a rigid-flexible coupling structure, has the advantages of light weight, small inertia, good flexibility and the like, is flexible in rope transmission layout, and is easy to realize multiple-freedom configuration. In addition, from the analysis of bionics, the rope drive is similar to the tendon drive mode of human arm, and is a reasonable scheme for realizing the bionic design of human arms, so that the rope drive mechanism is widely applied to the design of joints of the humanoid arms, but in order to further reduce the quality of the humanoid arms, the rope drive humanoid arms are mostly designed in a mode of rear drive, the mode easily causes inter-joint kinematic coupling, and the overlong rope transmission line brings the problems of low control bandwidth, serious nonlinear friction and the like.
The humanoid arm is realized by adopting a modularized thought, and can be respectively designed into a wrist module, an elbow module and a shoulder module, so that the problems of inter-joint motion coupling, overlong rope transmission line and the like caused by the postposition of the rope driving humanoid arm are solved; on the other hand, the humanoid arm has the advantage of reconfigurable arm length under different application scenes, namely, each joint module of the humanoid arm is connected by adopting a standard mechanical interface, and the arm length can be changed only by adding connecting sections with different lengths between modularized joints.
At present, in the design of a humanoid arm, there are examples of designs respectively adopting a rope driving mechanism and a modularized thought, for example, patent ZL201810632708.7 discloses a three-degree-of-freedom rope driving parallel mechanism with a tension amplifying mechanism, a movable platform and a static platform of the mechanism are connected by a hinge, and the side edge of the mechanism is driven by the tension amplifying mechanism consisting of a movable fixed pulley, so that the mechanism can be applied to the wrist or the shoulder of the humanoid arm; the patent 201910382872.1 discloses a five-degree-of-freedom modularized dulcimer playing mechanical arm, which adopts modularized thought design, and the whole arm is mainly divided into a shoulder module, a big arm rotating module, an elbow module and a small arm module, and a motor and a driver are integrated in each joint module. Although the rope driving mechanism and the modularized thought are applied to the design of the humanoid arm, the advantages of the rope driving mechanism and the modularized thought are fully fused, the defects of the rope driving mechanism and the modularized thought are overcome, and the design of the humanoid arm is carried out by adopting the thought of a rope driving joint module.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, and provides a rope-driven wrist module based on a three-degree-of-freedom serial-parallel mechanism and a use method thereof, and the problems in the prior art are solved by arranging a spherical pure rolling parallel mechanism and a tension amplifying mechanism.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The rope driving wrist module based on the three-degree-of-freedom serial-parallel mechanism comprises a three-degree-of-freedom serial-parallel module and a driving and controlling integrated module which are arranged from top to bottom, wherein the three-degree-of-freedom serial-parallel module consists of a parallel mechanism upper platform, a tension amplifying mechanism, a parallel mechanism lower platform, a rotating connecting table, rope fixing screws, a three-degree-of-freedom serial-parallel module shell, a bearing positioning sleeve, a motor fixedly connected gear, a spherical pure rolling parallel mechanism, a deep groove ball bearing, a front rope winding drum, a thin gasket, a rear rope winding drum, a plugging screw bearing and a motor transmission gear;
The upper platform of the parallel mechanism is connected with the lower platform of the parallel mechanism through a spherical pure rolling parallel mechanism and a tension amplifying mechanism, the spherical pure rolling parallel mechanism comprises three parallel mechanism connecting rods which are uniformly distributed along the circumferential direction by 120 degrees, and the three parallel mechanism connecting rods are bent and staggered, so that the upper platform of the parallel mechanism moves between-90 degrees and 90 degrees without interference;
The tension amplifying mechanism comprises an upper platform swing frame positioning block, a movable pulley, an upper platform swing frame, an upper platform rope retainer, a lower platform rope retainer, a fixed pulley, a lower platform swing frame, a rope reversing pin, a rope reversing bearing and a lower platform swing frame positioning block; the four tension amplifying mechanisms are uniformly distributed between the upper platform of the parallel mechanism and the lower platform of the parallel mechanism along the circumferential direction by 90 degrees, and tension and rigidity are amplified in the two-degree-of-freedom motion direction through the movable pulleys;
Preferably, the deep groove ball bearing is positioned in the three-degree-of-freedom serial-parallel module shell, the flanges of the lower platform of the parallel mechanism and the rotating connecting platform are respectively embedded into the inner rings of the deep groove ball bearing and are connected with each other by screws; the front end rope winding rotary drum, the thin gasket and the rear end rope winding rotary drum are sleeved in a cylinder at the bottom surface of the rotary connecting table in sequence and axially positioned through a bearing positioning sleeve, two motor fixedly connected gears are connected to the bearing positioning sleeve through a plugging screw bearing and a plugging screw, two motor transmission gears are fixedly connected with the front end rope winding rotary drum and the rear end rope winding rotary drum through screws respectively, and the bearing positioning sleeve is embedded into a three-degree-of-freedom serial-parallel module shell for positioning;
Preferably, the spherical pure rolling parallel mechanism realizes the spherical motion of the wrist with two degrees of freedom, and the lower platform of the parallel mechanism is one degree of freedom of rotation, so that a serial-parallel mechanism is formed;
Preferably, the tension amplification factor of the tension amplification mechanism is twice, and the rigidity amplification factor is four times;
Preferably, both ends of the connecting rod of the parallel mechanism are connected with the upper platform of the parallel mechanism and the lower platform of the parallel mechanism through connecting rod fixing pins and connecting hinges;
preferably, the tension amplifying mechanism is connected with the upper platform of the parallel mechanism and the lower platform of the parallel mechanism through an upper platform swing frame positioning block and a lower platform swing frame positioning block respectively;
Preferably, the rope transmission route of the tension amplifying mechanism starts from a rope fixing point, enters from a lower platform swing frame and turns around a fixed pulley from above, passes through the lower platform rope holder and the upper platform rope holder respectively from bottom to top, enters into the upper platform rope holder and the lower platform rope holder respectively from top to bottom after turning through a dynamic pulley, enters into a lower platform swing frame positioning block through a rope reversing pin, transmits a rope to a front-end rope winding drum below through a rope reversing bearing, winds along the front-end rope winding drum and is fixed at a groove through screws;
Preferably, the driving and controlling integrated module consists of a driving and controlling integrated module shell and three small direct current motors, and the driving and controlling integrated module shell is connected with the bearing positioning sleeve through screws; the surface of the driving and controlling integrated module shell is provided with a standard snap ring interface which is used for being connected with an elbow or other modules; the small direct current motors on the left side and the right side are provided with a reduction gearbox and an encoder, the small direct current motors on the left side and the right side drive the front-end rope winding rotary drum and the rear-end rope winding rotary drum to rotate through motor fixedly connected gears and motor transmission gears so as to further realize rope motion, and the small direct current motors in the middle directly drive the rotary connecting table to rotate so as to further realize the rotation of the three-degree-of-freedom serial-parallel hybrid mechanism;
Preferably, after the small direct current motor in the middle drives the rotary connecting table to rotate for an angle theta, the small direct current motors on the left side and the right side set and drive the front-end rope winding rotary drum and the rear-end rope winding rotary drum to correspondingly rotate for an angle theta through encoders, so that rope coupling is solved.
The working flow of the invention is as follows: when the rope winding device is used, the small direct current motors on the left side and the right side drive the front-end rope winding drum and the rear-end rope winding drum to rotate through the motor fixedly connected gears and the motor transmission gears, so that rope movement is realized, wherein Deltar and Deltap are the expansion and contraction amounts of two pairs of ropes respectively; and the small direct current motor in the middle directly drives the rotary connecting table to rotate, so that the whole rotation of the three-degree-of-freedom serial-parallel mechanism is realized. The invention utilizes the spherical pure rolling parallel mechanism to realize wrist inward bending, outward extending, hand ulnar rolling and hand radial rolling movements, and utilizes the rotation of the rotary connecting table to realize the freedom degree configuration of wrist outward rotation and inward rotation, but the rotation of the rotary connecting table can lead to the change of Deltar and Deltap, namely the movement coupling exists; in order to solve the rope coupling problem, each time the middle direct current motor drives the rotary connecting table to rotate for an angle theta, the small direct current motors on the left side and the right side drive the front-end rope winding rotary drum and the rear-end rope winding rotary drum to correspondingly rotate for an angle theta through the encoder, so that the rope coupling is solved.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the parallel mechanism connecting rods are arranged to be bent and staggered, so that interference between the parallel mechanism connecting rods in the motion process is avoided, the parallel mechanism upper platform can move between-90 degrees and +90 degrees without interference, and the parallel mechanism is hollow in a staggered and bent design mode of the parallel mechanism connecting rods, so that the flexible hand connected with the tail ends of the parallel mechanism upper platform can walk in a module, and the design integration level of the humanoid robot is improved;
2. According to the invention, by arranging the tension amplifying mechanism, tension and rigidity are amplified in the two-degree-of-freedom motion direction by adopting the principle of the movable pulley, the tension amplification factor is doubled, the rigidity amplification factor is quadrupled, and the light weight of the mechanism is ensured while the rigidity is not lost;
3. In the invention, the wrist two-degree-of-freedom spherical motion is realized through the spherical pure rolling parallel mechanism, and the lower platform of the parallel mechanism is designed to be one degree of freedom of rotation, so that a serial-parallel mechanism is formed; the wrist is bent inwards, outwards, the hand is inclined to the side and the hand is inclined to the side by using the spherical pure rolling parallel mechanism, the wrist is arranged outwards and inwards by using the rotation of the rotary connecting table, and the structure is simpler and more compact than a joint with the same degree of freedom, so that the aim of being consistent with the arrangement of the degree of freedom of the wrist of a real person is fulfilled, and the wrist has good imitation;
4. According to the invention, different structures are controlled by setting different motors, and after the middle small direct current motor drives the rotary connecting table to rotate for an angle theta, the small direct current motors on the left side and the right side drive the front-end rope winding rotary drum and the rear-end rope winding rotary drum to correspondingly rotate for an angle theta through the encoder, so that the rope coupling problem is solved, and the rotating accuracy is improved.
5. In the invention, the rope driving and modularization advantages are combined for design, and the invention has the advantages of light weight, reconfigurability, good flexibility and the like.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a three degree of freedom serial-parallel connection module and a driving control integrated module connection of the present invention;
FIG. 3 is an exploded view of the overall assembly structure of the present invention;
FIG. 4 is a schematic diagram of a three degree of freedom serial-parallel mechanism structure according to the present invention;
FIG. 5 is a schematic diagram of the rope drive path of the tension amplifying mechanism of the present invention;
FIG. 6 is a schematic diagram of a two-degree-of-freedom spherical pure rolling parallel mechanism of the present invention;
FIG. 7 is a schematic diagram of an overall transmission analysis of the present invention;
FIG. 8 is a schematic diagram of a rope coupling analysis of the present invention;
FIG. 9 is a schematic diagram of a real wrist degree of freedom configuration and range of motion of the present invention;
Fig. 10 is a schematic diagram of a parallel-serial mechanism degree of freedom configuration according to the present invention.
In the figure: A. the three-degree-of-freedom serial-parallel connection module; B. a driving and controlling integrated module; 1. a parallel mechanism upper platform; 2. a tension amplifying mechanism; 3. a lower platform of the parallel mechanism; 4. rotating the connecting table; 5. a rope fixing screw; 6. three-degree-of-freedom serial-parallel module shell; 7. a bearing positioning sleeve; 8. the motor is fixedly connected with a gear; 9. driving and controlling the integrated module shell; 10. a standard snap ring interface; 11. spherical pure rolling parallel mechanism; 12. deep groove ball bearings; 13. a front-end rope winding drum; 14. a thin shim; 15. a rear-end rope drum; 16. plugging a screw; 17. a screw bearing is plugged; 18. a motor drive gear; 19. a small DC motor; 20. the upper platform swing frame positioning block; 21. a movable pulley; 22. an upper platform swing frame; 23. an upper platform rope holder; 24. a lower platform rope holder; 25. a fixed pulley; 26. a lower platform swing frame; 27. rope reversing pins; 28. rope reversing bearings; 29. a lower platform swing frame positioning block; 30. a parallel mechanism connecting rod; 31. a link fixing pin; 32. a connecting hinge; 33. and fixing the screw groove.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Referring to fig. 1-10, the present invention provides a technical solution:
The invention provides a rope-driven wrist module based on a three-degree-of-freedom serial-parallel mechanism and a use method thereof, as shown in fig. 1 and 2, the wrist module consists of a three-degree-of-freedom serial-parallel module A and a driving control integrated module B, and the three-degree-of-freedom serial-parallel module A and the driving control integrated module B are fixed through screws on the side surface of a shell, so that connection and disassembly are facilitated.
The three-degree-of-freedom serial-parallel module A is composed of a parallel mechanism upper platform 1, a tension amplifying mechanism 2, a parallel mechanism lower platform 3, a rotary connecting platform 4, a rope fixing screw 5, a three-degree-of-freedom serial-parallel module shell 6, a bearing positioning sleeve 7, a motor fixedly connected gear 8, a spherical pure rolling parallel mechanism 11, a deep groove ball bearing 12, a front end rope winding drum 13, a thin gasket 14, a rear end rope winding drum 15, a plugging screw 16, a plugging screw bearing 17 and a motor transmission gear 18, as shown in fig. 3;
The upper parallel mechanism platform 1 and the lower parallel mechanism platform 3 are connected through a spherical pure rolling parallel mechanism 11 and a tension amplifying mechanism 2, the spherical pure rolling parallel mechanism 11 comprises three parallel mechanism connecting rods 30 which are uniformly distributed along the circumferential direction by 120 degrees, and the three parallel mechanism connecting rods 30 are bent and staggered, so that the upper parallel mechanism platform 1 moves between-90 degrees and 90 degrees without interference
The deep groove ball bearing 12 is positioned in the three-degree-of-freedom serial-parallel module shell 6, and flanges of the parallel mechanism lower platform 3 and the rotary connecting table 4 are respectively embedded into inner rings of the deep groove ball bearing 12 and are connected with each other by screws; the front end rope winding drum 13, the thin gasket 14 and the rear end rope winding drum 15 are sleeved in the cylinder at the bottom surface of the rotary connecting table 4 in sequence and axially positioned through the bearing positioning sleeve 7, the two motor fixedly connected gears 8 are connected to the bearing positioning sleeve 7 through the plugging screw bearings 17 and the plugging screws 16, the two motor transmission gears 18 are fixedly connected with the front end rope winding drum 13 and the rear end rope winding drum 15 through screws respectively, and the bearing positioning sleeve 7 is embedded into the three-degree-of-freedom serial-parallel module shell 6 for positioning;
As shown in fig. 4, the tension amplifying mechanism 2 is composed of an upper platform swing frame positioning block 20, a movable pulley 21, an upper platform swing frame 22, an upper platform rope retainer 23, a lower platform rope retainer 24, a fixed pulley 25, a lower platform swing frame 26, a rope reversing pin 27, a rope reversing bearing 28 and a lower platform swing frame positioning block 29. Four groups of tension amplifying mechanisms 2 are uniformly distributed between an upper platform 1 and a lower platform 3 of the parallel mechanism along the circumferential direction by 90 degrees, and each pair of the tension amplifying mechanisms 2 is opposite to one pair, tension and rigidity amplification is carried out in the two-degree-of-freedom motion direction by adopting the principle of a movable pulley 21, the tension amplification factor is two times, and the rigidity amplification factor is four times.
The rope transmission route of the tension amplifying mechanism 2 is shown in fig. 5, the rope transmission route starts from O 1, enters from the left hole of the lower platform swinging frame 26 and winds around the right fixed pulley 25 from the upper side, passes through the left holes of the lower platform rope retainer 24 and the upper platform rope retainer 23 respectively from bottom to top, enters from top to bottom into the right holes of the upper platform rope retainer 23 and the lower platform rope retainer 24 respectively after being diverted by the movable pulley 21, enters into the left hole of the lower platform swinging frame positioning block 29 through the rope reversing pin 27, is transmitted to the front end rope winding drum 13 below by the rope reversing bearing 28, is wound along the front end rope winding drum 13 and is fixed at the groove 33 by a screw, and the rope winding method is repeated after the other end is wound from the right side of the front end rope winding drum 13 until the rope reaches the O 2 of the other tension amplifying mechanism 2, wherein O 1 and O 2 are the ropes of the lower platform 3 of the parallel mechanism, and the other two pairs of tension amplifying mechanisms 2 are the same in the same manner.
The spherical pure rolling parallel mechanism 11, as shown in fig. 6, consists of a parallel mechanism connecting rod 30, a connecting rod fixing pin 31 and a connecting hinge 32. The spherical pure rolling parallel mechanism 11 is positioned at the right center of the upper parallel mechanism platform 1 and the lower parallel mechanism platform 3, the connection part of the parallel mechanism connecting rod 30 and the upper parallel mechanism platform 1 and the lower parallel mechanism platform 3 is circumferentially distributed at 120 degrees, the parallel mechanism connecting rod 30 and the connecting hinge 32 are connected through a connecting rod fixing pin 31, and likewise, the connecting hinge 32 and the upper parallel mechanism platform 1 and the lower parallel mechanism platform 3 are also connected through the fixing pin 31.
The spherical pure rolling parallel mechanism 11 is shown in fig. 7, on one hand, interference between parallel mechanism connecting rods 30 in the motion process is avoided, the connecting rods are designed in a staggered bending mode, so that the parallel mechanism upper platform 1 can move between-90 degrees and +90 degrees without interference, on the other hand, the parallel mechanism is hollow in a staggered bending design mode of the parallel mechanism connecting rods 30, and the flexible hand connected with the tail end of the parallel mechanism upper platform 1 can walk in a module.
The driving and controlling integrated module B is composed of a driving and controlling integrated module shell 9 and a small direct current motor 19 as shown in fig. 8. The driving and controlling integrated module shell 9 is connected with the bearing positioning sleeve 7 through four screws which are circumferentially distributed at 90 degrees at the tail end; the surface of the driving and controlling integrated module is provided with a standard snap ring interface 10 for connecting with an elbow or other modules; the front end and the tail end of the three small direct current motors 19 are respectively provided with a reduction gearbox and an encoder, and the reduction gearbox is provided with two screw holes for connecting with the driving and controlling integrated module shell 9; the output shaft of the motor is a D-shaped shaft which can be in molded surface connection with the D-shaped hole of the motor fixedly connected gear 8 and the rotary connecting table 4.
The driving and controlling integrated module B is shown in fig. 9, where the small dc motors 19 on the left and right sides drive the front end rope winding drum 13 and the rear end rope winding drum 15 to rotate through the motor fixedly connected gear 8 and the motor transmission gear 18, so as to implement rope movement, where Δr and Δp are the expansion and contraction amounts of two pairs of ropes respectively, and the small dc motor 19 in the middle directly drives the rotating connection table 4 to rotate, so as to implement integral rotation of the mechanism shown in fig. 3, but rotation of the rotating connection table 4 will cause Δr and Δp to change, that is, there is motion coupling, as shown in fig. 8, in order to solve the rope coupling problem, after each time the small dc motor 19 in the middle drives the rotating connection table 4 to rotate by an angle θ, the small dc motors 19 on the left and right sides need to drive the front end rope winding drum 13 and the rear end rope winding drum 15 to rotate correspondingly by the angle θ.
As shown in fig. 9, the real wrist has three degrees of freedom, and each degree of freedom has a corresponding range of motion, which is 75 ° for inward bending/75 ° for outward extending, 85 ° for outward turning/76 ° for inward turning, and 45 ° for ulnar roll/20 ° for radial roll, respectively. As shown in fig. 10, the invention utilizes the spherical pure rolling parallel mechanism 11 to realize the two-degree-of-freedom spherical motion of the wrist, the lower platform 3 of the parallel mechanism is a rotational degree of freedom, so as to form a serial-parallel mechanism, utilizes the spherical pure rolling parallel mechanism 11 to realize the wrist inward bending, outward extending, hand ulnar rolling and hand radial rolling motion, and utilizes the rotation of the rotary connecting table 4 to realize the degree-of-freedom configuration of the outward rotation and the inward rotation of the wrist, thereby achieving the purpose of being consistent with the degree-of-freedom configuration of the wrist of a real person.
The working flow of the invention is as follows: when the rope winding device is used, the small direct current motors 19 on the left side and the right side drive the front-end rope winding drum 13 and the rear-end rope winding drum 15 to rotate through the motor fixedly connected gears 8 and the motor transmission gears 18, so that rope movement is realized, wherein Deltar and Deltap are the expansion and contraction amounts of two pairs of ropes respectively; the middle small-sized direct current motor 19 directly drives the rotary connecting table 4 to rotate, so that the three-degree-of-freedom serial-parallel mechanism integrally rotates. The invention utilizes the spherical pure rolling parallel mechanism 11 to realize wrist inward bending, outward extending, hand ulnar rolling and hand radial rolling movements, and utilizes the rotation of the rotary connecting table 4 to realize the freedom degree configuration of wrist outward rotation and inward rotation, but the rotation of the rotary connecting table 4 can lead to the change of Deltar and Deltap, namely the movement coupling exists; in order to solve the rope coupling problem, each time the middle direct current motor drives the rotary connecting table 4 to rotate for an angle theta, the small direct current motors 19 on the left side and the right side drive the front-end rope winding drum 13 and the rear-end rope winding drum 15 to correspondingly rotate for an angle theta through encoder settings, so that the rope coupling is solved.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made therein without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (6)
1. The rope drive wrist module based on the three-degree-of-freedom serial-parallel mechanism is characterized by comprising a three-degree-of-freedom serial-parallel module and a driving and controlling integrated module which are arranged from top to bottom, wherein the three-degree-of-freedom serial-parallel module consists of a parallel mechanism upper platform, a tension amplifying mechanism, a parallel mechanism lower platform, a rotating connecting table, rope fixing screws, a three-degree-of-freedom serial-parallel module shell, a bearing positioning sleeve, a motor fixedly connected gear, a spherical pure rolling parallel mechanism, a deep groove ball bearing, a front-end rope winding drum, a thin gasket, a rear-end rope winding drum, a plug screw bearing and a motor transmission gear;
The upper platform of the parallel mechanism is connected with the lower platform of the parallel mechanism through a spherical pure rolling parallel mechanism and a tension amplifying mechanism, the spherical pure rolling parallel mechanism comprises three parallel mechanism connecting rods which are uniformly distributed along the circumferential direction by 120 degrees, and the three parallel mechanism connecting rods are bent and staggered, so that the upper platform of the parallel mechanism moves between-90 degrees and 90 degrees without interference;
The tension amplifying mechanism comprises an upper platform swing frame positioning block, a movable pulley, an upper platform swing frame, an upper platform rope retainer, a lower platform rope retainer, a fixed pulley, a lower platform swing frame, a rope reversing pin, a rope reversing bearing and a lower platform swing frame positioning block; the four tension amplifying mechanisms are uniformly distributed between the upper platform of the parallel mechanism and the lower platform of the parallel mechanism along the circumferential direction by 90 degrees, and tension and rigidity are amplified in the two-degree-of-freedom motion direction through the movable pulleys;
The deep groove ball bearing is positioned in the three-degree-of-freedom serial-parallel module shell, the flanges of the parallel mechanism lower platform and the rotary connecting platform are respectively embedded into the inner rings of the deep groove ball bearing and are connected with each other through screws; the front end rope winding rotary drum, the thin gasket and the rear end rope winding rotary drum are sleeved in a cylinder at the bottom surface of the rotary connecting table in sequence and axially positioned through a bearing positioning sleeve, two motor fixedly connected gears are connected to the bearing positioning sleeve through a beating screw bearing and a beating screw, two motor transmission gears are fixedly connected with the front end rope winding rotary drum and the rear end rope winding rotary drum through screws respectively, and the bearing positioning sleeve is embedded into a three-degree-of-freedom serial-parallel module shell for positioning;
The spherical pure rolling parallel mechanism realizes the two-degree-of-freedom spherical motion of the wrist, and the lower platform of the parallel mechanism is one degree of freedom of rotation, so that a serial-parallel-serial mechanism is formed;
The rope transmission route of the tension amplifying mechanism starts from a rope fixed point, enters from a lower platform swing frame and turns around a fixed pulley from the upper side, respectively passes through the lower platform rope retainer and the upper platform rope retainer from bottom to top, respectively enters the upper platform rope retainer and the lower platform rope retainer from top to bottom after turning through a dynamic pulley, enters a lower platform swing frame positioning block through a rope reversing pin, transmits a rope to a front-end rope winding drum below through a rope reversing bearing, winds along the front-end rope winding drum and is fixed at a groove by a screw;
The driving and controlling integrated module consists of a driving and controlling integrated module shell and three small direct current motors, and the driving and controlling integrated module shell is connected with the bearing positioning sleeve through screws; the surface of the driving and controlling integrated module shell is provided with a standard snap ring interface which is used for being connected with an elbow or other modules; the small-sized direct current motors are provided with a reduction gearbox and an encoder, the small-sized direct current motors on the left side and the right side are fixedly connected with a gear and a motor transmission gear through the motor to drive the front-end rope winding rotary drum and the rear-end rope winding rotary drum to rotate, so that rope movement is achieved, the small-sized direct current motors in the middle are directly driven to rotate to connect the table to rotate, and further three-degree-of-freedom serial-parallel-serial mechanism rotation is achieved.
2. The cord driven wrist module of claim 1, wherein the tension amplification mechanism has a tension amplification of two times and a stiffness amplification of four times.
3. The rope-driven wrist module of claim 1, wherein both ends of the parallel mechanism link are connected to the parallel mechanism upper platform and the parallel mechanism lower platform by link fixing pins, connection hinges.
4. The rope-driven wrist module of claim 1, wherein the tension amplifying mechanism is connected to the parallel mechanism upper platform and the parallel mechanism lower platform through an upper platform swing frame positioning block and a lower platform swing frame positioning block, respectively.
5. The cord-driven wrist module of claim 1, wherein the intermediate small dc motor drives rotation of the rotation connection stageAfter the angle, the small direct current motors at the left side and the right side drive the front-end rope winding rotary drum and the rear-end rope winding rotary drum to correspondingly rotate/>, through encoder settingsAngle, thereby solving rope coupling.
6. A method of using a three degree of freedom serial-parallel mechanism based rope driven wrist module according to any one of claims 1-5, comprising the steps of:
when the rope winding device is used, the small direct current motors on the left side and the right side drive the front-end rope winding drum and the rear-end rope winding drum to rotate through the motor fixedly connected gear and the motor transmission gear, so that rope movement is realized, wherein delta is calculated And delta/>The expansion and contraction amounts of the two pairs of ropes are respectively; the middle small direct current motor directly drives the rotary connecting table to rotate, so that the integral rotation of the three-degree-of-freedom serial-parallel mechanism is realized, the pure spherical rolling parallel mechanism is utilized to realize the wrist inward bending, outward extending, hand rule rolling and hand radius rolling movement, the rotary connecting table is utilized to rotate to realize the degree-of-freedom configuration of wrist outward rotation and inward rotation, but the rotation of the rotary connecting table leads to delta/>And delta/>A change occurs, i.e. there is a kinematic coupling; to solve the rope coupling problem, the middle DC motor drives the rotary connecting table to rotate every timeAfter the angle, the small direct current motors at the left side and the right side drive the front-end rope winding rotary drum and the rear-end rope winding rotary drum to correspondingly rotate/>, through encoder settingsAngle, thereby solving rope coupling.
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