CN113386119B - Rope-driven flexible mechanical arm joint capable of realizing stretching and deflection - Google Patents
Rope-driven flexible mechanical arm joint capable of realizing stretching and deflection Download PDFInfo
- Publication number
- CN113386119B CN113386119B CN202110742604.3A CN202110742604A CN113386119B CN 113386119 B CN113386119 B CN 113386119B CN 202110742604 A CN202110742604 A CN 202110742604A CN 113386119 B CN113386119 B CN 113386119B
- Authority
- CN
- China
- Prior art keywords
- rope
- linkage
- mounting
- rod
- hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- B25J17/0208—Compliance devices
Abstract
The invention relates to a rope-driven flexible mechanical arm joint capable of realizing stretching and deflection, which comprises: the cable laying device comprises a plurality of driving ropes and a deflection joint part, wherein the deflection joint part comprises a pair of first wiring disks, a pair of second wiring disks, a first mounting seat, a second mounting seat, a connecting rod, a first linkage block, a second linkage block and a linkage rope which are oppositely arranged, at least one pair of first rope penetrating holes are formed in the periphery of each first wiring disk, at least one pair of second rope penetrating holes are formed in the periphery of each second wiring disk, the first mounting seat is fixedly connected to one surface of each first wiring disk, and the second mounting seat is fixedly connected to one surface of each second wiring disk. The rope-driven flexible mechanical arm joint capable of realizing stretching and deflecting disclosed by the invention can realize the change of deflection or stretching two-degree-of-freedom actions through at least two driving ropes, and is suitable for more applicable scenes of mechanical arms.
Description
Technical Field
The invention relates to a rope-driven flexible mechanical arm joint capable of stretching and deflecting, and belongs to the field of robots.
Background
The flexible mechanical arm driven by the multi-joint rope is a complex system with high precision, multiple inputs and outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. The multi-joint rope-driven flexible mechanical arm is connected between multi-section structures through mechanical arm joints, the existing rope-driven mechanical arm joints, in particular to the rope-driven mechanical arm joints, do not realize mechanical arm stretching and deflection control actions, and are difficult to adapt to more complex production environments.
Disclosure of Invention
The invention provides a rope-driven flexible mechanical arm joint capable of realizing stretching and deflecting, and aims to at least solve one of the technical problems in the prior art.
The technical scheme of the invention is a rope-driven flexible mechanical arm joint capable of realizing stretching and deflection, which comprises: the cable laying device comprises a plurality of driving ropes and a deflection joint part, wherein the deflection joint part comprises a pair of first wiring disks, second wiring disks, a first mounting seat, a second mounting seat, a connecting rod, a first linkage block, a second linkage block and a linkage rope which are arranged oppositely, at least one pair of first rope penetrating holes are formed in the periphery of each first wiring disk, at least one pair of second rope penetrating holes are formed in the periphery of each second wiring disk, the first mounting seat is fixedly connected to one surface of each first wiring disk, the second mounting seat is fixedly connected to one surface of each second wiring disk, the first mounting seat and the second mounting seat are arranged oppositely, the first linkage blocks are arranged on two side surfaces of the first mounting seat respectively, the second linkage blocks are arranged on two side surfaces of the second mounting seat respectively, and the end parts of the two side ends of the connecting rod on the same side are rotatably connected with the outer side surfaces of the first linkage block and the second linkage block respectively, the two ends of the linkage rope are respectively fixed on the same side of the surfaces of the first linkage block and the second linkage block, and the linkage rope comprises a telescopic joint part and a plurality of springs, wherein the telescopic joint part comprises a third wiring disc, a shearing fork mechanism and a plurality of springs, the middle part and the periphery of the third wiring disc are respectively connected with one end of the shearing fork mechanism and one end of the plurality of springs, at least one pair of third rope penetrating holes are formed in the periphery of the third wiring disc, the other end of the shearing fork mechanism and the other ends of the plurality of springs are respectively connected with the outer side surface of the first wiring disc, and a plurality of groups of adjacent first rope penetrating holes, second rope penetrating holes and third rope penetrating holes sequentially penetrate through driving ropes.
Further, the scissor mechanism comprises a sliding assembly and a connecting scissor assembly, the sliding assembly comprises a first mounting rod, a first scissor rod and a second scissor rod, a first sliding hole is formed in the middle of the first mounting rod, one end of the first scissor rod is connected with the first sliding hole in a sliding mode through a rotating shaft, one end of the second scissor rod is connected with one end of the first mounting rod through a rotating shaft in a rotating mode, the middle of the first scissor rod is connected with the middle of the second scissor rod through a rotating shaft in a rotating mode, the connecting scissor assembly comprises a third scissor rod and a fourth scissor rod, the middle of the third scissor rod and the middle of the fourth scissor rod are connected through rotating shafts in a rotating mode, the pair of sliding assemblies are arranged oppositely, and two ends of the third scissor rod are respectively connected with the end of the first scissor rod on one side and the end of the second scissor rod on the other side through rotating shafts in a rotating mode, and two ends of the fourth scissor rod are rotatably connected with the end part of the second scissor rod on one side and the end part of the first scissor rod on the other side through rotating shafts.
Furthermore, the two sides of the first mounting seat are respectively provided with a first fastening block, the first fastening block and the first linkage block are arranged adjacently, a first linkage rope through hole is formed in the first fastening block, the input end of the first linkage rope through hole is connected with the end face of the first linkage block, the end portion of the linkage rope penetrates through the first linkage rope through hole, and the tail end of the linkage rope is fixed to the output end of the first linkage rope through hole through a hollow screw.
Furthermore, the two sides of the second mounting seat are respectively provided with a second fastening block, the second fastening block is adjacent to the second linkage block, a second linkage rope through hole is formed in the second fastening block, the input end of the second linkage rope through hole is connected with the end face of the first linkage block, a plurality of screw fixing holes are formed in the second fastening block and vertically communicated with the second linkage rope through hole, the end portion of the linkage rope penetrates through the second linkage rope through hole, the tail end of the linkage rope penetrates through the first linkage rope through hole, and the screw fixing holes are provided with screws for pressing and fixing the side face of the linkage rope.
Furthermore, the linkage rope is wound on the first linkage block and the second linkage block on the same side in an S shape.
Further, the deflection joint part also comprises a first mounting plate, a first mounting hole is arranged in the middle of the first wiring disc, a first boss is arranged on the periphery of the first mounting hole in an upward direction, a second mounting hole is arranged in the middle of the second wiring disc, a second boss is arranged on the periphery of the second mounting hole in an upward direction, the telescopic joint part also comprises a third mounting plate, wherein the end surfaces of the first mounting plate and the first boss are mutually matched and fixedly connected, the main body part of the first mounting seat is arranged in the first boss, the side panel of the first mounting seat is fixedly connected with the side panel of the first boss through bolts, the main body part of the second mounting seat is arranged in the second boss, and the side panel of the second mounting seat is fixedly connected with the side panel of the second boss through bolts, and the third mounting plate is fixedly connected with the inner side surface of the third wiring disc, and two ends of the scissor fork mechanism are respectively connected with the surfaces of the third mounting plate and the first mounting plate.
Further, arm lever coupling part includes fourth wiring disc and spliced pole, the fourth mounting hole has been seted up at the middle part of fourth wiring disc, the periphery of fourth mounting hole upwards is equipped with the fourth boss, the first connecting mounting panel of the different fixedly connected with of both sides tip of spliced pole and second connecting mounting panel, wherein, first connecting mounting panel with the terminal surface fixed connection of second boss, the second connecting mounting panel with the terminal surface fixed connection of fourth boss.
Furthermore, the middle part of the connecting column is hollow, and two ends of the connecting column are respectively communicated with the outside and the second boss.
Further, the both sides of first mounting panel are equipped with a pair of first stopper side by side, the both sides of third mounting panel are equipped with a pair of third stopper side by side, and wherein, a pair of the one end of scissors mechanism is installed on a pair of first mounting panel between the first stopper, the other end is installed on a pair of third mounting panel between the third stopper.
Further, four springs are arranged between the inner side surface of the third wiring disk and the inner side surface of the first wiring disk.
The invention has the beneficial effects of.
1. In the deflecting joint part and the telescopic joint part in the technical scheme, when the extension or the tensioning of the two driving ropes is controlled simultaneously, the telescopic joint part can realize axial extension or contraction movement, and the deflecting joint part is kept still; in addition, when one driving rope is controlled to extend and the other driving rope is controlled to be tensioned, the eccentric joint part rotates, the telescopic joint part keeps still, the mechanical arm joint can change the actions of two degrees of freedom of deflection or expansion at least through the two driving ropes, and the mechanical arm joint is suitable for more applicable scenes of mechanical arms.
2. When the one end of first scissors pole is restricted at first sliding hole and is rotated, the one end of second scissors pole is restricted at the other end of first installation pole, and first scissors pole drives the rotation of second scissors pole to drive third scissors pole and fourth scissors pole and rotate, realize whole sliding assembly's extension or shorten.
3. The both ends of linkage rope are fixed in first linkage rope through-hole and second linkage rope through-hole respectively, and the first mount pad of pulling and the rotation of second mount pad that the linkage rope can be stable realize that two drive ropes when length reverse change such as equal joint rotate.
4. The linkage rope is wound on the first linkage block and the second linkage block on the same side in an S shape, the first mounting seat and the second mounting seat are driven by the linkage rope to rotate at equal angles, and therefore the two side faces of the deflection joint part can be connected with other parts of the mechanical arm to rotate at equal angles.
Drawings
FIG. 1 is a general schematic diagram according to an embodiment of the invention.
FIG. 2 is a detailed schematic view of a yaw joint portion in combination with a telescopic joint portion assembly according to an embodiment of the present invention.
Fig. 3 is a detailed schematic view of a portion of a telescopic joint according to an embodiment of the invention.
Fig. 4 is a detailed schematic view of an arm connecting portion according to an embodiment of the present invention.
FIG. 5 is a first angular view of the interior of a portion of a yaw joint, according to an embodiment of the present invention.
FIG. 6 is a second angular view of the interior of a portion of a yaw joint, according to an embodiment of the present invention.
FIG. 7 is a third angular view of the interior of a portion of a yaw joint according to an embodiment of the present invention.
Fig. 8 is a longitudinal sectional view of the AA part of fig. 7 according to an embodiment of the present invention.
Fig. 9 is a detailed schematic view of a scissors mechanism according to an embodiment of the present invention.
Fig. 10 is a detailed schematic diagram of a first routing puck according to an embodiment of the present invention.
Fig. 11 is a detailed schematic diagram of a fourth routing puck according to an embodiment of the present invention.
Fig. 12 is a detailed schematic diagram of a second routing puck according to an embodiment of the present invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the descriptions of upper, lower, left, right, top, bottom, etc. used in the present invention are only relative to the positional relationship of the components of the present invention with respect to each other in the drawings.
Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any combination of one or more of the associated listed items.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.
Referring to fig. 1 to 12, in some embodiments, the present invention discloses a rope-driven flexible mechanical arm joint capable of achieving stretching and deflection, comprising: a plurality of drive cables 1000, a yaw joint portion 2000, and a telescopic joint portion 3000.
Referring to the yaw joint part 2000 of fig. 1 and 5, the yaw joint part 2000 includes a pair of first and second wiring disks 2100 and 2200, a first and second mounting seats 2300 and 2400, a connecting rod 2500, a first and second link blocks 2600 and 2700, and a link rope 2800, which are disposed opposite to each other.
Referring to fig. 1, at least one pair of first stringing holes 2110 are formed in the outer circumference of the first routing disc 2100, a plurality of first stringing holes 2110 are uniformly formed in the outer circumference of the first routing disc 2100, at least one pair of second stringing holes 2210 are formed in the outer circumference of the second routing disc 2200, a plurality of second stringing holes 2210 are uniformly formed in the outer circumference of the second routing disc 2200, and the first stringing holes 2100 and the second stringing holes 2210 are disposed to correspond to each other.
Referring to fig. 1 to 2, the first mounting seat 2300 is fixedly coupled to one surface of the first routing disk 2100, the second mounting seat 2400 is fixedly coupled to one surface of the second routing disk 2200, and the first mounting seat 2300 and the second mounting seat 2400 are disposed to face each other. The structure in which the first wiring disk 2100 is attached to the first attachment seat 2300 is the same as the structure in which the first wiring disk 2100 is attached to the second attachment seat 2400 and is symmetrical to the structure.
Referring to fig. 5 to 8, the first linkage blocks 2600 are respectively disposed on two side surfaces of the first mounting seat 2300, and the second linkage blocks 2700 are respectively disposed on two side surfaces of the second mounting seat 2400. Both side end portions of the connection rod 2500 are rotatably connected to the outer side surfaces of the first linkage block 2600 and the second linkage block 2700 on the same side, respectively, and both ends of the linkage rope 2800 are fixed to the surfaces of the first linkage block 2600 and the second linkage block 2700 on the same side, respectively. The first mounting base 2300 and the second mounting base 2400 are connected and supported through the connecting rod 2500, the two mounting bases can rotate between the pair of connecting rods 2500, and due to the fact that the respective linkage blocks on the two mounting bases are connected through the linkage rope, the first mounting base 2300 and the second mounting base 2400 achieve a linkage effect, and meanwhile the first wiring disc 2100 and the second wiring disc 2200 are driven to rotate.
Referring to the telescopic joint portion 3000 of fig. 1 and 3, the telescopic joint portion 3000 includes a third wiring disk 3100, a scissors mechanism 4000, and a plurality of springs 3200. Referring to fig. 3, an end of the scissors mechanism 4000 and an end of the plurality of springs 3200 are respectively connected to the middle portion and the periphery of the third wiring disk 3100, at least one pair of third stringing holes 3110 is formed in the periphery of the third wiring disk 3100, and a plurality of pairs of third stringing holes 3110 are uniformly formed in the periphery of the third wiring disk 3100. Referring to fig. 1, a telescopic joint portion 3000 is connected to a swing joint portion 2000, and the other end of the scissors mechanism 4000 and the other ends of the plurality of springs 3200 are respectively connected to the outer side surface of the first wiring disc 2100. The scissors mechanism 4000 and the plurality of springs 3200 between the third wiring disk 3100 and the first wiring disk 2100 may be extended and contracted, and these portions serve as an extension joint portion of the mechanical joint.
Referring to fig. 1 to 2, the power transmission of the deflecting joint portion 2000 and the telescopic joint portion 3000 is realized by a driving rope, and the driving rope 1000 is installed in the rope passing holes of a plurality of adjacent first, second and third routing disks 2100, 2200 and 3100, as follows: the first threading hole 2110, the second threading hole 2210 and the third threading hole 3110 are sequentially passed through the driving rope 1000.
In the deflecting joint part and the telescopic joint part in the technical scheme, when the two driving ropes are simultaneously controlled to extend or be tensioned, the telescopic joint part can realize axial extension or contraction movement, and the deflecting joint part is kept still; in addition, when one driving rope is controlled to extend and the other driving rope is controlled to be tensioned, the eccentric joint part rotates, the telescopic joint part keeps still, the mechanical arm can change the actions of two degrees of freedom of deflection or expansion at least through the two driving ropes, and the mechanical arm is suitable for more applicable scenes.
The scissors mechanism 4000, as described with reference to fig. 3, includes a slide assembly 4100 and a connecting scissors assembly 4200.
Referring to fig. 9, the sliding assembly 4100 includes a first mounting rod 4110, a first shear rod 4120, and a second shear rod 4130, wherein a first sliding hole 4111 is formed in a middle portion of the first mounting rod 4110, one end of the first shear rod 4120 is slidably connected to the first sliding hole 4111 through a rotating shaft, one end of the second shear rod 4130 is rotatably connected to one end of the first mounting rod 4110 through a rotating shaft, and a middle portion of the first shear rod 4120 is rotatably connected to a middle portion of the second shear rod 4130 through a rotating shaft.
Referring to fig. 9, the connecting fork assembly 4200 includes a third fork rod 4210 and a fourth fork rod 4220, and a middle portion of the third fork rod 4210 and a middle portion of the fourth fork rod 4220 are rotatably connected by a rotating shaft.
Referring to fig. 9, the slide assembly 4100 and the connecting scissors assembly 4200 are connected by: the pair of sliding assemblies 4100 are disposed oppositely, two ends of the third scissor bar 4210 are respectively and rotatably connected with an end of the first scissor bar 4120 on one side and an end of the second scissor bar 4130 on the other side through a rotating shaft, and two ends of the fourth scissor bar 4220 are rotatably connected with an end of the second scissor bar 4130 on one side and an end of the first scissor bar 4120 on the other side through a rotating shaft. When one end of the first scissor rod is limited to slide in the first sliding hole, one end of the second scissor rod is limited to the other end of the first mounting rod, the first scissor rod drives the second scissor rod to rotate, so that the third scissor rod and the fourth scissor rod are driven to rotate, and the whole sliding assembly is extended or shortened.
Referring to fig. 5 to 8, first fastening blocks 2310 are respectively disposed at two sides of the first mounting seat 2300, the first fastening blocks 2310 are disposed adjacent to the first linkage blocks 2600, first linkage rope through holes 2311 are formed in the first fastening blocks 2310, and input ends of the first linkage rope through holes 2311 are connected with end faces of the first linkage blocks 2600. The end of the linkage rope 2800 passes through the first linkage rope through hole 2311, and the end of the linkage rope 2800 is fixed at the output end of the first linkage rope through hole 2311 by a hollow screw. As shown in fig. 5, one end of the link rope is fixed to the output end of the first link rope through hole by a hollow screw, so that the one end of the link rope is not easily displaced near the first link block.
With reference to fig. 5 to 8, second fastening blocks 2410 are respectively disposed on two sides of the second mounting base 2400, the second fastening blocks 2410 are disposed adjacent to the second linkage block 2700, a second linkage rope through hole 2411 is formed in the second fastening blocks 2410, an input end of the second linkage rope through hole 2411 is connected to an end surface of the first linkage block 2600, and a plurality of screw fixing holes 2412 are formed in the second fastening blocks 2410 vertically communicated with the second linkage rope through hole 2411.
The end of the linkage rope 2800 penetrates through the second linkage rope through hole 2411, the end of the linkage rope 2800 penetrates through the first linkage rope through hole 2311, and a screw is mounted on the screw fixing hole 2412 to press and fix the side surface of the linkage rope 2800. As shown in fig. 5, the other end of the link rope is fixed by pressing with a screw in the first link rope through hole, so that the one end of the link rope is not easily displaced near the first link block.
The both ends of linkage rope are fixed in first linkage rope through-hole and second linkage rope through-hole respectively, and the first mount pad of pulling that the linkage rope can be stable and the equal angle antiport of second mount pad.
Referring to fig. 5, the linkage rope 2800 is wound around the first linkage block 2600 and the second linkage block 2700 on the same side in an S-shaped manner, one end of the linkage rope bypasses one side of the first linkage block, the middle portion of the linkage rope bypasses the other side of the second linkage block, the other end of the linkage rope finally bypasses the other side of the first linkage block, and the first mounting seat and the second mounting seat are driven by the linkage rope to rotate in opposite directions at equal angles, so that the two side faces of the deflection joint portion can be connected with other portions of the mechanical arm to rotate at equal angles.
Referring to fig. 1 and 3, the yaw joint portion 2000 further includes a first mounting plate 2900, and the first mounting plate 2900 and the end surface of the first boss 2130 are fixedly coupled to each other in a fitting manner.
Referring to fig. 10, a first mounting hole 2120 is formed in the middle of the first wiring disk 2100, and a first boss 2130 is upwardly formed on the periphery of the first mounting hole 2120.
Referring to fig. 12, a second mounting hole 2220 is formed at the middle portion of the second wiring disk 2200, and a second boss 2230 is formed at the periphery of the second mounting hole 2220 in an upward direction.
Referring to fig. 1 and 2, a main body of the first mounting seat 2300 is disposed inside the first boss 2130, a side panel of the first mounting seat 2300 is fixedly connected to the side panel of the first boss 2130 by a bolt, a main body of the second mounting seat 2400 is disposed inside the second boss 2230, and a side panel of the second mounting seat 2400 is fixedly connected to the side panel of the second boss 2230 by a bolt.
Referring to fig. 1 and 3, the telescopic joint portion 3000 further includes a third mounting plate 3300, the third mounting plate 3300 is fixedly connected to an inner side surface of the third wiring disk 3100, and both ends of the scissors mechanism 4000 are respectively connected to surfaces of the third mounting plate 3300 and the first mounting plate 2900.
Referring to the arm connecting part 5000 of fig. 1 and 4, the arm connecting part 5000 includes a fourth wiring disk 5100 and a connecting column 5200, a fourth mounting hole 5110 is formed in the middle of the fourth wiring disk 5100, a fourth boss 5120 is upwardly formed on the periphery of the fourth mounting hole 5110, and both side ends of the connecting column 5200 are fixedly connected to a first connecting mounting plate 5210 and a second connecting mounting plate 5220, respectively. The first connecting and mounting plate 5210 is fixedly connected to the end surface of the second boss 2230, and the second connecting and mounting plate 5220 is fixedly connected to the end surface of the fourth boss 5120. The other side of the arm rod connecting part and the deflection joint part is provided with the whole structure for connecting the extension mechanical arm, and the deflection joint part can drive the arm rod connecting part to rotate.
Referring to fig. 4, the connecting column 5200 is hollow in the middle, the two ends of the connecting column 5200 are respectively communicated with the outside and the second boss 2230, and the middle of the connecting column 5200 can be used for installing and accommodating the electric circuit trend deflection joint part, and at the same time, the weight of the mechanical arm can be effectively reduced.
Referring to fig. 3, a pair of first stoppers 2910 are disposed in parallel on both sides of the first mounting plate 2900, and a pair of third stoppers 3310 are disposed in parallel on both sides of the third mounting plate 3300. One end of the pair of scissors 4000 is mounted on the first mounting plate 2900 between the pair of first stoppers 2910, and the other end is mounted on the third mounting plate 3300 between the pair of third stoppers 3310. A pair of scissors mechanism 4000 is installed between two mounting panels, so that when two surfaces of the telescopic joint part are driven by the scissors mechanism to stretch, the third wiring disc and the first wiring disc can stably keep a parallel distribution relationship, and the third wiring disc and the first wiring disc are not easy to deform.
Referring to fig. 3, four springs 3200 are disposed between an inner surface of the third wiring disk 3100 and an inner surface of the first wiring disk 2100, the springs between the third wiring disk and the second wiring disk are disposed at the periphery of the pair of scissors mechanisms, and two springs are respectively mounted at the peripheries of both sides of the scissors mechanisms, so that the third wiring disk and the first wiring disk can be stably maintained in a parallel relationship, and are not easily deformed, and provide an internal pushing force of the joint, thereby extending the expansion joint when the rope is extended, balancing the pulling force of the rope, and maintaining the balance of the expansion joint.
In a specific embodiment, the rope-driven flexible mechanical arm joint based on the invention works as follows:
the driving ropes pass through the wiring discs at each position, the driving ropes have certain initial tension to overcome the elastic force of the springs on the telescopic joint parts, when the two driving ropes simultaneously extend or tighten delta l, the deflection joint parts do not rotate, because if the deflection joint parts rotate, the variation of the two driving ropes between the two discs on the deflection joint parts is inconsistent, and the two driving ropes on the telescopic joint partsThe variable quantity is unanimous between some two discs, and the variable quantity of drive rope is different on two joints, so when two drive ropes are extension simultaneously or taut the same delta l, can realize the independent axial displacement of expansion joint part, and the migration distance is rope variable quantity delta l, when two drive root ropes are extension respectively and taut delta l, because the linkage effect of linkage drive rope, two upper and lower centre piece turned angle theta are unanimous, have simultaneously sin theta ═ delta l/d, wherein d is the diameter of wiring disc, and delta l is two drive rope extension and taut the same distance, only the joint part that deflects this moment rotates, and expansion joint part is motionless. In other cases, where one of the drive rope stretches a and the other drive rope stretches b, where a, b may be positive or negative, the positive sign represents take-up, the negative sign represents elongation, and the absolute value of b is greater than a and both positive values, then b is split into two quantities b1And b2Wherein b is2＝(b-a)/2，b1＝b-b2Here b is1It can be seen that the same length of the two drive ropes simultaneously stretches, causing axial movement of the telescopic joint parts, b2It can be seen that the two drive cables are respectively tensioned and stretched to the same length, causing rotation of the deflecting joint portion.
The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present disclosure should be included in the scope of the present disclosure as long as the technical effects of the present invention are achieved by the same means. Are intended to fall within the scope of the present invention. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (10)
1. A rope driven flexible mechanical arm joint capable of achieving stretching and deflection is characterized by comprising:
a plurality of drive ropes (1000),
the yaw joint part (2000) comprises a pair of first wiring disks (2100), a pair of second wiring disks (2200), a first mounting seat (2300), a second mounting seat (2400), a connecting rod (2500), a first linkage block (2600), a second linkage block (2700) and a linkage rope (2800), wherein at least one pair of first rope penetrating holes (2110) are formed in the outer periphery of the first wiring disks (2100), at least one pair of second rope penetrating holes (2210) are formed in the outer periphery of the second wiring disks (2200),
the first mounting seat (2300) is fixedly connected to one surface of the first wiring disc (2100), the second mounting seat (2400) is fixedly connected to one surface of the second wiring disc (2200), the first mounting seat (2300) and the second mounting seat (2400) are arranged oppositely, the first linkage block (2600) is arranged on two side surfaces of the first mounting seat (2300), the second linkage block (2700) is arranged on two side surfaces of the second mounting seat (2400), two side end portions of the connecting rod (2500) are respectively rotatably connected with outer side surfaces of the first linkage block (2600) and the second linkage block (2700) on the same side, two ends of the linkage rope (2800) are respectively fixed to surfaces of the first linkage block (2600) and the second linkage block (2700) on the same side,
the telescopic joint part (3000), the telescopic joint part (3000) comprises a third wiring disc (3100), a scissor mechanism (4000) and a plurality of springs (3200), the middle part and the periphery of the third wiring disc (3100) are respectively connected with one end of the scissor mechanism (4000) and one end of the plurality of springs (3200), at least one pair of third rope penetrating holes (3110) is formed in the periphery of the third wiring disc (3100),
wherein the other end of the scissors mechanism (4000) and the other ends of the springs (3200) are respectively connected with the outer side surface of the first wiring disc (2100),
and a plurality of groups of adjacent first threading holes (2110), second threading holes (2210) and third threading holes (3110) are sequentially passed through the driving rope (1000).
2. The reach and deflection flexible robotic arm joint of claim 1, wherein the scissor mechanism (4000) comprises a slide assembly (4100) and a connecting scissor assembly (4200),
the sliding component (4100) comprises a first mounting rod (4110), a first shear fork rod (4120) and a second shear fork rod (4130), wherein a first sliding hole (4111) is formed in the middle of the first mounting rod (4110), one end of the first shear fork rod (4120) is connected with the first sliding hole (4111) in a sliding manner through a rotating shaft, one end of the second shear fork rod (4130) is connected with one end of the first mounting rod (4110) in a rotating manner through a rotating shaft, the middle of the first shear fork rod (4120) is connected with the middle of the second shear fork rod (4130) in a rotating manner through a rotating shaft,
the connecting fork assembly (4200) comprises a third fork rod (4210) and a fourth fork rod (4220), the middle part of the third fork rod (4210) and the middle part of the fourth fork rod (4220) are rotatably connected through a rotating shaft,
the pair of sliding assemblies (4100) are arranged oppositely, two ends of the third scissor rod (4210) are respectively and rotatably connected with the end of the first scissor rod (4120) on one side and the end of the second scissor rod (4130) on the other side through rotating shafts, and two ends of the fourth scissor rod (4220) are rotatably connected with the end of the second scissor rod (4130) on one side and the end of the first scissor rod (4120) on the other side through rotating shafts.
3. The rope-driven flexible mechanical arm joint capable of realizing stretching and deflection as claimed in claim 1, wherein the first mounting seat (2300) is provided with first fastening blocks (2310) at both sides thereof, the first fastening blocks (2310) are arranged adjacent to the first linkage blocks (2600), the first fastening blocks (2310) are provided with first linkage rope through holes (2311), the input ends of the first linkage rope through holes (2311) are connected with the end surfaces of the first linkage blocks (2600),
the end of the linkage rope (2800) penetrates through the first linkage rope through hole (2311), and the tail end of the linkage rope (2800) is fixed at the output end of the first linkage rope through hole (2311) through a hollow screw.
4. The rope-driven flexible mechanical arm joint capable of achieving stretching and deflection as claimed in claim 1, wherein a second fastening block (2410) is respectively disposed at two sides of the second mounting seat (2400), the second fastening block (2410) is disposed adjacent to the second linkage block (2700), a second linkage rope through hole (2411) is formed in the second fastening block (2410), an input end of the second linkage rope through hole (2411) is connected to an end surface of the first linkage block (2600), a plurality of screw fixing holes (2412) are formed in the second fastening block (2410) vertically communicated with the second linkage rope through hole (2411),
the end of the linkage rope (2800) penetrates through the second linkage rope through hole (2411), the tail end of the linkage rope (2800) penetrates through the first linkage rope through hole (2311), and a screw is mounted on the screw fixing hole (2412) and presses and fixes the side surface of the linkage rope (2800).
5. The rope driven flexible mechanical arm joint capable of achieving stretching and deflection as claimed in claim 1, wherein the linkage rope (2800) is wound in an "S" shape on the first linkage block (2600) and the second linkage block (2700) on the same side.
6. The reach and deflect capable rope driven flexible robotic arm joint of claim 1, wherein the deflection joint portion (2000) further comprises a first mounting plate (2900),
a first mounting hole (2120) is formed in the middle of the first wiring disc (2100), a first boss (2130) is upwardly formed in the periphery of the first mounting hole (2120), a second mounting hole (2220) is formed in the middle of the second wiring disc (2200), a second boss (2230) is upwardly formed in the periphery of the second mounting hole (2220),
the telescopic joint portion (3000) further comprises a third mounting plate (3300),
wherein the end surfaces of the first mounting plate (2900) and the first lug bosses (2130) are matched and fixedly connected with each other,
wherein the main body part of the first mounting seat (2300) is arranged inside the first boss (2130), the side panel of the first mounting seat (2300) is fixedly connected with the side panel of the first boss (2130) through a bolt, the main body part of the second mounting seat (2400) is arranged inside the second boss (2230), the side panel of the second mounting seat (2400) is fixedly connected with the side panel of the second boss (2230) through a bolt,
and the third mounting plate (3300) is fixedly connected with the inner side surface of the third wiring disc (3100), and two ends of the scissor mechanism (4000) are respectively connected with the surfaces of the third mounting plate (3300) and the first mounting plate (2900).
7. The rope driven flexible mechanical arm joint capable of achieving stretching and deflecting of claim 6, further comprising:
the arm connecting part (5000) comprises a fourth wiring disc (5100) and a connecting column (5200), a fourth mounting hole (5110) is formed in the middle of the fourth wiring disc (5100), a fourth boss (5120) is arranged on the periphery of the fourth mounting hole (5110) upwards, two side end parts of the connecting column (5200) are fixedly connected with a first connecting mounting plate (5210) and a second connecting mounting plate (5220) respectively,
the first connecting and mounting plate (5210) is fixedly connected with the end face of the second boss (2230), and the second connecting and mounting plate (5220) is fixedly connected with the end face of the fourth boss (5120).
8. The rope-driven flexible mechanical arm joint capable of realizing stretching and deflecting of claim 7, wherein the middle of the connecting column (5200) is hollow, and two ends of the connecting column (5200) are respectively communicated with the outside and the second boss (2230).
9. The rope driven flexible mechanical arm joint capable of achieving stretching and deflecting according to claim 6, wherein a pair of first stoppers (2910) are juxtaposed on two sides of the first mounting plate (2900),
a pair of third limit blocks (3310) are arranged on two sides of the third mounting plate (3300) in parallel,
one end of each pair of scissors mechanisms (4000) is arranged on a first mounting plate (2900) between the pair of first limit blocks (2910), and the other end of each pair of scissors mechanisms is arranged on a third mounting plate (3300) between the pair of third limit blocks (3310).
10. The rope driven flexible robotic arm joint capable of flexing and deflecting as claimed in claim 1 wherein four springs (3200) are provided between the inner side of the third routing disc (3100) and the inner side of the first routing disc (2100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110742604.3A CN113386119B (en) | 2021-06-30 | 2021-06-30 | Rope-driven flexible mechanical arm joint capable of realizing stretching and deflection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110742604.3A CN113386119B (en) | 2021-06-30 | 2021-06-30 | Rope-driven flexible mechanical arm joint capable of realizing stretching and deflection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113386119A CN113386119A (en) | 2021-09-14 |
| CN113386119B true CN113386119B (en) | 2022-05-27 |
Family
ID=77624852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110742604.3A Active CN113386119B (en) | 2021-06-30 | 2021-06-30 | Rope-driven flexible mechanical arm joint capable of realizing stretching and deflection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113386119B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115446512B (en) * | 2022-10-18 | 2023-06-09 | 立之力机械(广州)股份有限公司 | Material conveying trolley for tank welding |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103068333A (en) * | 2010-08-27 | 2013-04-24 | 伊顿株式会社 | Instrument for surgical operation |
| CN107847280A (en) * | 2015-07-13 | 2018-03-27 | 剑桥医疗机器人技术有限公司 | Flexible robot's formula surgical operating instrument |
| CN108908314A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of cooperating joint group and mechanical arm |
| CN109561935A (en) * | 2016-05-23 | 2019-04-02 | 帝国创新有限公司 | Surgical instrument, robots arm and the control system for robots arm |
| CN110802584A (en) * | 2019-09-30 | 2020-02-18 | 中山大学 | Rope-driven multi-joint flexible mechanical arm and robot |
| CN111037546A (en) * | 2019-12-30 | 2020-04-21 | 中国科学院沈阳自动化研究所 | Rope-driven scissor telescopic arm |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7678117B2 (en) * | 2004-06-07 | 2010-03-16 | Novare Surgical Systems, Inc. | Articulating mechanism with flex-hinged links |
| DE102018006991A1 (en) * | 2018-09-04 | 2020-03-05 | KIMIYA GmbH | Multifunctional long-arm gripping mechanism |
-
2021
- 2021-06-30 CN CN202110742604.3A patent/CN113386119B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103068333A (en) * | 2010-08-27 | 2013-04-24 | 伊顿株式会社 | Instrument for surgical operation |
| CN107847280A (en) * | 2015-07-13 | 2018-03-27 | 剑桥医疗机器人技术有限公司 | Flexible robot's formula surgical operating instrument |
| CN109561935A (en) * | 2016-05-23 | 2019-04-02 | 帝国创新有限公司 | Surgical instrument, robots arm and the control system for robots arm |
| CN108908314A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of cooperating joint group and mechanical arm |
| CN110802584A (en) * | 2019-09-30 | 2020-02-18 | 中山大学 | Rope-driven multi-joint flexible mechanical arm and robot |
| CN111037546A (en) * | 2019-12-30 | 2020-04-21 | 中国科学院沈阳自动化研究所 | Rope-driven scissor telescopic arm |
Non-Patent Citations (1)
| Title |
|---|
| 软体操作机器人概述;张国龙等;《船舶工程》;20200625(第06期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113386119A (en) | 2021-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113386119B (en) | Rope-driven flexible mechanical arm joint capable of realizing stretching and deflection | |
| CN110315511B (en) | Cable-driven parallel sorting robot tensioned by passive springs | |
| CN109605333B (en) | Spring and rope hybrid drive branched chain and three-rotational-freedom parallel robot | |
| US9568074B2 (en) | Motion transmitting device with epicyclic reduction gearing, epicyclic reduction gearing and manipulating arm | |
| US8459139B2 (en) | Robot joint driving apparatus and robot having the same | |
| CN105945915B (en) | A kind of rope shunting means based on translation restraining structure | |
| US6008447A (en) | Transmission for moving panels provided with solar cells on a spacecraft | |
| CN110561408B (en) | Robot system | |
| CN101028712A (en) | Rope-driven redundancy mechanical arm | |
| KR102154391B1 (en) | Apparatus gripper | |
| KR101710256B1 (en) | Robotic joint device using wire and module-type robotic joint system using wire | |
| CN106625631A (en) | Successive type flexible arm joint group and combined type flexible arm joint group | |
| CN113843822B (en) | Diameter and length changeable continuum arm | |
| KR101179229B1 (en) | Tension and Torque Simultaneous Loading Test Bench | |
| CN115565803A (en) | Novel rope drives operating handle | |
| US20080077258A1 (en) | Twisting Wire Actuator | |
| CN110202545A (en) | A kind of auxiliary drive unit and the six-degree-of-freedom parallel connection mechanism containing the unit | |
| CN102975197A (en) | Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom | |
| US20060117897A1 (en) | Joint unit for a robot | |
| CN111037545B (en) | Rope drives formula arm of establishing ties | |
| CN113386117B (en) | Rope-driven flexible mechanical arm with yaw freedom and capable of realizing sine decoupling | |
| CN113547541B (en) | Rope-driven flexible mechanical arm joint based on connecting rod linkage and mechanical arm system | |
| WO2023138071A1 (en) | Under-actuated continuum mechanical arm | |
| SE506213C2 (en) | Apparatus for effecting a substantially rectilinear motion of a movable member in a measuring machine where the transfer of power takes place from one type of motion to the linear motion | |
| CN110666835A (en) | Rope driving joint and rope driving mechanical arm capable of achieving flexible buffering |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |