CN113103276A - Flexibly-driven joint module of cooperative mechanical arm - Google Patents
Flexibly-driven joint module of cooperative mechanical arm Download PDFInfo
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- CN113103276A CN113103276A CN202110278948.3A CN202110278948A CN113103276A CN 113103276 A CN113103276 A CN 113103276A CN 202110278948 A CN202110278948 A CN 202110278948A CN 113103276 A CN113103276 A CN 113103276A
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- rope
- mechanical arm
- joint module
- driving
- arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
The invention discloses a flexibly-driven joint module of a cooperative mechanical arm, which comprises a driving mechanical arm, a rotating mechanical arm, a connecting shaft, a motor, a first rope and a second rope, wherein the driving mechanical arm is connected with the first rope; the driving mechanical arm is hinged with the rotating mechanical arm through a connecting shaft; the motor is arranged on the driving mechanical arm; the starting end of the first rope and the starting end of the second rope are respectively wound on the output shaft of the motor in opposite directions; the first rope and the second rope are wound through the connecting shaft in opposite directions respectively; the tail end of the first rope and the tail end of the second rope are fixed on the rotating mechanical arm; or the middle part of the first rope and the middle part of the second rope are wound through the rotating mechanical arm, and the tail end of the first rope and the tail end of the second rope are fixed on the driving mechanical arm or the rotating mechanical arm. The flexibly-driven joint module of the cooperative mechanical arm greatly reduces the self weight of the mechanical arm, and the joint is driven by two steel wire ropes together, so that the joint can be stretched and compressed, and the reliability of driving the joint in the positive and negative directions is ensured.
Description
Technical Field
The invention relates to the field of robots, in particular to a flexible-drive joint module of a cooperative robot arm.
Background
With the continuous breakthrough of robotics, development of collaboration service robots used in an environment close to a human is being advanced. While conventional industrial robots ensure safe autonomous operation by isolating contact with a human, cooperative robots perform tasks independently or sequentially in shared spaces or in close contact with a human. As an important branch of modern industrial robots, cooperative robots have attracted attention since their appearance, and have been developed rapidly in recent years. When a robot and a human coexist in a short distance as described above, the relaxation of the acting force at the time of contact is ensured as much as possible, and it is required that the joints of the robot have certain flexibility, that is, the service robot has light weight, outputs torque, and can perform highly accurate operation control.
The mechanical arm joint module widely used at present mostly adopts the combination of servo motor and differential reduction gear, and this kind of integrated configuration joint compliance is poor, and is low with environmental interaction security to, mechanical arm load dead weight ratio is low, and it is big to snatch the load power consumption, and is inefficient, but reverse drive nature is very low.
Disclosure of Invention
In order to reduce the weight and the rotational inertia of the rotary mechanical arm and improve the load self-weight ratio and the reverse driveability of the mechanical arm, the invention provides the flexibly-driven cooperative mechanical arm joint module, the driving motor is arranged outside the rotary mechanical arm, and the weight of the rotary mechanical arm can be effectively reduced; the driving force is transmitted to the driving joint through the rope transmission device, so that the driving joint can be stretched and compressed, and the reliability of driving the joint in the forward and reverse directions is ensured.
Correspondingly, the invention provides a flexibly-driven joint module of a cooperative mechanical arm, which comprises a driving mechanical arm, a rotating mechanical arm, a connecting shaft, a motor, a first rope and a second rope, wherein the driving mechanical arm is connected with the first rope;
the driving mechanical arm is hinged with the rotating mechanical arm through a connecting shaft;
the motor is arranged on the driving mechanical arm;
the initial end of the first rope and the initial end of the second rope are respectively wound on the output shaft of the motor along opposite directions,
the middle part of the first rope and the middle part of the second rope are wound through the connecting shaft along opposite directions respectively;
the tail end of the first rope is fixed on the rotating mechanical arm, or the tail end of the first rope is fixed on the driving mechanical arm after being wound by the rotating mechanical arm,
the tail end of the second rope is fixed on the rotating mechanical arm, or the tail end of the second rope is fixed on the driving mechanical arm after being wound by the rotating mechanical arm.
In an optional embodiment, the turning mechanical arm joint further comprises a diverting pulley; at least one diverting pulley is arranged on the rotating mechanical arm; the first rope is passed around the rotating mechanical arm based on the diverting pulley, and the second rope is passed around the rotating mechanical arm based on the diverting pulley.
The first ropes form a plurality of first rope loops when being wound by the connecting shaft, and the first ropes between two adjacent first rope loops are transited based on the steering pulley;
the second ropes form a plurality of second rope rings when being wound through the connecting shaft, and the second ropes between two adjacent second rope rings are transited based on the steering pulley.
In an alternative embodiment, the flexible driven cooperative robotic arm joint module further comprises a wire chase wheel set comprising a plurality of wire sheaves; the wire groove wheel is coaxially and rotationally matched on the connecting shaft; any one of the line grooved wheels is provided with a plurality of line grooves, and the first rope and the second rope are respectively matched in the corresponding line grooves.
In an optional embodiment, the mechanical arm joint further comprises a reel, and the reel is coaxially and rotatably matched on an output shaft of the motor; the starting ends of the first rope and the second rope are wound on the output shaft of the motor based on the winding wheel.
In an optional embodiment, the flexibly driven joint module of the cooperative mechanical arm further includes a plurality of positioning pulleys, and the positioning pulleys are respectively disposed at preset positions of the driving mechanical arm; the first and second ropes transition between the reel and the raceway based on corresponding positioning pulleys, respectively.
In an alternative embodiment the direction of rotation of the diverting pulley is parallel or perpendicular to the direction of rotation of the raceway pulley set.
In an alternative embodiment, the wire chase wheel set includes three wire sheaves, and each of the wire sheaves has two wire chases.
In an alternative embodiment, a number of said diverting pulleys are included; the two steering pulleys are arranged on the rotating mechanical arm, and the two steering pulleys are arranged on the driving mechanical arm.
In an alternative embodiment, the first and second ropes are steel cords.
In conclusion, the flexibly-driven joint module of the cooperative mechanical arm provided by the invention can greatly reduce the self weight of the rotary mechanical arm, has low rotational inertia, improves the dynamic performance of the mechanical arm, and has good joint flexibility and safety force interactivity; the mechanical arm joint is provided with two steel wire rope pulling connecting shafts, so that the mechanical arm joint can be stretched and compressed, and the reliability of forward and reverse driving of the joint is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic illustration of an axial view of a flexibly driven cooperative robotic arm joint module of a three wire slot embodiment of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a first cable winding of a flexibly driven cooperative robotic arm joint module of a three wire slot embodiment of an embodiment of the present invention;
fig. 3 is a second cord winding schematic for a flexibly driven cooperative robotic arm joint module for a three-wire slot embodiment of an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Specifically, the flexibly-driven joint module of the cooperative mechanical arm provided by the invention can be designed into a single wire slot or a double wire slot, and can also be expanded into an N wire slot according to requirements as long as the requirements on spatial position and quality are met. For convenience of understanding, the embodiment of the present invention is described by taking three wire slots as an example.
Fig. 1 shows a schematic view of an axial view of a flexibly driven cooperative robotic arm joint module of a three wire slot embodiment of an embodiment of the present invention. Specifically, the flexibly driven cooperative mechanical arm joint module of the three-trunking embodiment of the invention comprises a driving mechanical arm 1, a rotating mechanical arm 2, a connecting shaft 3, a motor 4, a trunking wheel set 10, a diverting pulley 5, a positioning pulley 6, a first rope 7, a second rope 8 and a winding wheel 9. The driving mechanical arm 1 and the rotating mechanical arm 2 are hinged through a connecting shaft 3, and a main body structure of the flexible driving cooperative mechanical arm joint module is formed.
Further, the motor 4 is arranged on the driving mechanical arm 1, so that the self weight of the rotating mechanical arm 2 can be reduced to a greater extent, and correspondingly, the rotational inertia of the rotating mechanical arm 2 is reduced.
Furthermore, a first rope 7 and a second rope 8 are arranged on an output shaft of the motor 4 and are driven together through the two ropes, so that the two ropes can be stretched and compressed, and the reliability of driving the joint in the forward and reverse directions is ensured.
Specifically, the flexibly driven cooperative arm joint module further comprises a diverting pulley 51 and a diverting pulley 52, the diverting pulleys 51 and 52 are arranged on the rotary mechanical arm 2, the first rope 7 is wound around the rotary mechanical arm 2 based on the diverting pulley 51, and the second rope 8 is wound around the rotary mechanical arm 2 based on the diverting pulley 52; by providing diverting pulleys on the rotating arm, the first ropes 7 and the second ropes 8 can better distribute the driving force of the motor evenly on the rotating arm 2.
Furthermore, a diverting pulley 53 and a diverting pulley 54 are arranged on the driving mechanical arm, a plurality of coils formed by the first ropes 7 are first rope loops when the first ropes 7 are wound through the connecting shaft, and the first ropes 7 are transited between two adjacent first rope loops based on the diverting pulley 51 and the diverting pulley 53. The second ropes 8 are passed around the connecting shaft forming several loops as second rope loops, between two adjacent second rope loops said second ropes 8 are passed over diverting pulley 52 and diverting pulley 54. The position of the diverting pulley 5 is arranged on the central line of two adjacent coils, so that the routing symmetry of the first rope 7 and the second rope 8 can be ensured, and the first rope 7 and the second rope 8 move more smoothly under the action of the driving force of the motor 4.
Specifically, the flexibly-driven cooperative robot arm joint module further comprises a three-wire sheave 10, wherein the three-wire sheave is coaxially and rotatably mounted on the connecting shaft 3 in a matched manner and can rotate around the connecting shaft 3; any one of the three-wire grooved wheels is provided with two wire grooves, and the first rope 7 and the second rope 8 are respectively matched in the corresponding wire grooves, so that the ropes can be prevented from being mutually tangled on the connecting shaft.
Specifically, in order to prevent the leading ends of the first rope 7 and the second rope 8 from being tangled around the output shaft of the motor 4, a reel 9 is coaxially and rotatably fitted to the output shaft of the motor 4, and the leading ends of the first rope 7 and the second rope 8 are wound around the output shaft of the motor via the reel 9.
In the embodiment, the positioning pulleys 61 and 62 are fixedly arranged at the preset positions of the driving mechanical arm 1, which helps to stabilize the routing positions of the first rope 7 and the second rope 8, and also helps the first rope 7 and the second rope 8 to transition between the reel and the trunking wheel, so that the routing of the first rope 7 and the second rope 8 is smoother.
Fig. 2 is a first cord winding schematic of a flexibly driven cooperative robotic arm joint module of a three-wire slot embodiment of an embodiment of the present invention. Specifically, in the embodiment of the present invention, the initial end of the first rope 7 is fixed on the reel 9, the first rope 7 passes through the positioning pulley 61 and then passes through the sheave from top to bottom, further, the first rope 7 passes through the diverting pulley 51 from bottom to top, after the direction is changed by the diverting pulley 51, further, the first rope 7 passes through the sheave from top to bottom, further, the first rope 7 passes through the diverting pulley 53 from bottom to top, after the direction is changed by the diverting pulley 53, further, the first rope 7 passes through the sheave from top to bottom, further, the first rope 7 passes through the sheave from bottom to top, and the tail end of the first rope 7 is fixed on the rotary mechanical arm 2.
Accordingly, when the motor 4 rotates as shown in fig. 2, the first rope 7 tends to stretch, and the stretching amount is distributed to several rope distances between the diverting pulley 51 and the diverting pulley 53 by the routing of the first rope 7, and the rotating mechanical arm 2 is driven to rotate as shown in fig. 2; correspondingly, the second ropes 8 have a tendency to slacken, and the amount of slack is distributed over the rope distances bounded by diverting pulley 52 and diverting pulley 54 by the second rope 8 trails, and the amount of stretch of the first ropes 7 is equal in length to the amount of slack of the second ropes 8, thereby keeping both the first ropes 7 and the second ropes 8 under tension.
Fig. 3 is a schematic winding of a second cable 8 of a flexibly driven cooperative robotic arm joint module of a three wire slot embodiment of an embodiment of the present invention. Specifically, in the embodiment of the present invention, the beginning end of the second rope 8 is fixed on the reel 9, the second rope 8 passes through the positioning pulley 62 and then passes through the wire sheave from bottom to top, further, the second rope 8 passes through the diverting pulley 52 from top to bottom and then changes direction through the diverting pulley 52, further, the second rope 8 passes through the wire sheave from bottom to top, further, the second rope 8 passes through the diverting pulley 54 from bottom to top and then passes through the diverting pulley 54 and then further, the second rope 8 passes through the wire sheave from bottom to top, and further, after the second rope 8 passes through the wire sheave from top to bottom, the end of the second rope 8 is fixed on the rotary mechanical arm 2.
Accordingly, when the motor 4 rotates as shown in fig. 3, the second rope 8 tends to stretch, and the stretching amount is distributed to several rope distances between the diverting pulley 52 and the diverting pulley 54 by the routing of the second rope 8, and the rotating mechanical arm 2 is driven to rotate as shown in fig. 3; correspondingly, the first ropes 7 have a tendency to slacken, whereby the amount of slack is distributed over the rope distances bounded by diverting pulley 51 and diverting pulley 53 by the routing of the first ropes 7, and the amount of stretch of the first ropes 7 is equal in length to the amount of slack of the second ropes 8, thereby keeping both the first ropes 7 and the second ropes 8 under tension.
In an optional implementation mode, the flexibly-driven joint module of the cooperative mechanical arm provided by the invention can be designed into N wire grooves, the number of the steering pulleys needs to be correspondingly increased when the numerical value of N is larger, the number of the rope segments which are shared by the steering pulleys in the use process is increased, the driving force brought by the motor is more uniformly distributed on the rope, and the rotation of the rotating mechanical arm is more stable and smooth.
In an alternative embodiment, the direction of rotation of the diverting pulley 5 is perpendicular or parallel to the direction of rotation of the raceway pulley set 10;
in an optional implementation manner, the wire groove wheel set 10 includes a plurality of wire groove wheels, each wire groove wheel is provided with two wire grooves matched with the rope, and correspondingly, when the number of the wire groove wheels is singular, the tail end of the same rope is fixedly arranged on the rotary mechanical arm 2; correspondingly, when the number of the wire sheaves of the wire sheave 10 is even, the tail end of the same rope is fixedly arranged on the driving mechanical arm 1.
In an alternative embodiment, the first and second ropes 7 and 8 are steel wire ropes.
In addition, if the diameter of the motor shaft is D, the diameter of the reel is D, and the number of the wire grooves is N, the reduction ratio of the rope-driven rotary joint module is N × D/D.
In conclusion, the invention provides a flexibly-driven joint module of a cooperative mechanical arm, wherein a motor is arranged on a driving mechanical arm, so that the load of the rotating mechanical arm is reduced, the joint flexibility is good, and the safety force interaction is good; the rope driving joint structure is adopted, and the guide of the pulley block is realized, so that the same output shaft joint is driven by two steel wire ropes together, the stretching and the compression can be realized, and the reliability of the forward and reverse driving of the joint is ensured.
The flexibly driven joint module of a cooperative robot arm provided by the embodiment of the present invention is described in detail, and the principle and the embodiment of the present invention are explained by applying specific examples herein, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A flexible-drive joint module of a cooperative mechanical arm is characterized by comprising a driving mechanical arm, a rotating mechanical arm, a connecting shaft, a motor, a first rope and a second rope;
the driving mechanical arm is hinged with the rotating mechanical arm through a connecting shaft;
the motor is arranged on the driving mechanical arm;
the initial end of the first rope and the initial end of the second rope are respectively wound on the output shaft of the motor along opposite directions,
the middle part of the first rope and the middle part of the second rope are wound through the connecting shaft along opposite directions respectively;
the tail end of the first rope is fixed on the rotating mechanical arm, or the tail end of the first rope is fixed on the driving mechanical arm after being wound by the rotating mechanical arm,
the tail end of the second rope is fixed on the rotating mechanical arm, or the tail end of the second rope is fixed on the driving mechanical arm after being wound by the rotating mechanical arm.
2. The flexibly driven cooperative robotic arm joint module of claim 1, further comprising a diverting pulley;
at least one diverting pulley is arranged on the rotating mechanical arm; the first rope is passed around the rotating mechanical arm based on the diverting pulley, and the second rope is passed around the rotating mechanical arm based on the diverting pulley.
3. The flexibly driven cooperative robot arm joint module of claim 2, wherein the first rope forms a plurality of first rope loops when passing around the connecting shaft, the first rope between two adjacent first rope loops transitioning based on the diverting pulley;
the second ropes form a plurality of second rope rings when being wound through the connecting shaft, and the second ropes between two adjacent second rope rings are transited based on the steering pulley.
4. The flexible driven cooperative robotic arm joint module of claim 1, further comprising a wireway wheel set comprising a number of wireway wheels; the wire groove wheel is coaxially and rotationally matched on the connecting shaft; any one of the line grooved wheels is provided with a plurality of line grooves, and the first rope and the second rope are respectively matched in the corresponding line grooves.
5. The flexibly driven cooperative arm joint module according to claim 1, further comprising a reel coaxially fixed on an output shaft of the motor; the leading end of the first rope and the leading end of the second rope are wound around the output shaft of the motor based on the reel.
6. The flexibly driven joint module of a cooperative robot arm according to claim 4 or 5, further comprising a plurality of positioning pulleys respectively disposed at preset positions of the driving robot arm; the first and second ropes transition between the reel and the raceway based on corresponding positioning pulleys, respectively.
7. A flexible driven cooperative robotic arm joint module according to claim 2 or 4, wherein the direction of rotation of the diverting pulley is parallel or perpendicular to the direction of rotation of the raceway assembly.
8. The flexible driven cooperative robotic arm joint module of claim 4, wherein the wire chase wheel set comprises three wire sheaves, any one of the wire sheaves having two wire chases.
9. The flexibly driven cooperative robotic arm joint module of claim 1, further comprising a plurality of said diverting pulleys; the two steering pulleys are arranged on the rotating mechanical arm, and the two steering pulleys are arranged on the driving mechanical arm.
10. The flexibly driven cooperative robotic arm joint module of claim 1, wherein the first and second cables are wire cables.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110278948.3A CN113103276B (en) | 2021-03-16 | 2021-03-16 | Flexibly-driven joint module of cooperative mechanical arm |
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| CN202110278948.3A CN113103276B (en) | 2021-03-16 | 2021-03-16 | Flexibly-driven joint module of cooperative mechanical arm |
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| CN113103276A true CN113103276A (en) | 2021-07-13 |
| CN113103276B CN113103276B (en) | 2022-12-06 |
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| CN113967905A (en) * | 2021-10-22 | 2022-01-25 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Leg mechanism of exoskeleton robot |
| CN114851239A (en) * | 2022-03-04 | 2022-08-05 | 深圳鹏行智能研究有限公司 | Head end joint, middle joint, bendable mechanical part and robot of line drive machine |
| CN115488871A (en) * | 2022-09-14 | 2022-12-20 | 清华大学深圳国际研究生院 | Light-weight high-torque tendon-driven single-degree-of-freedom mechanical joint device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113103276B (en) | 2022-12-06 |
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