CN114905498A - Become super redundant robot arm body in joint - Google Patents
Become super redundant robot arm body in joint Download PDFInfo
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- CN114905498A CN114905498A CN202210594385.3A CN202210594385A CN114905498A CN 114905498 A CN114905498 A CN 114905498A CN 202210594385 A CN202210594385 A CN 202210594385A CN 114905498 A CN114905498 A CN 114905498A
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- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000005452 bending Methods 0.000 claims abstract description 13
- 210000001503 joint Anatomy 0.000 claims description 20
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 13
- 229910052802 copper Inorganic materials 0.000 claims description 13
- 239000010949 copper Substances 0.000 claims description 13
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000036544 posture Effects 0.000 abstract 2
- 230000000694 effects Effects 0.000 description 3
- 241000227287 Elliottia pyroliflora Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
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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
- B25J18/00—Arms
- B25J18/06—Arms flexible
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Abstract
The invention discloses a variable joint super-redundancy robot arm body, which relates to the field of flexible mechanical arms and comprises: the flexible arm body comprises a starting end arm body, a middle section arm body and a tail end arm body which are sequentially connected; the start arm body realizes the bending in the vertical direction, the middle arm body realizes the bending in the horizontal direction, and the tail end arm body can realize the bending in the horizontal direction and the vertical direction simultaneously. By implementing the invention, a large-scale equipment shell with the thickness of 1.5m can pass through in a narrow space, and unknown environment detection can be carried out on an inner cavity of the equipment; the multi-motion-posture control device can complete various motion postures, has excellent bearing performance and excellent flexible operation performance at the beginning and the tail end respectively, and has lower degree of freedom under the same motion posture.
Description
Technical Field
The invention relates to the field of flexible mechanical arms, in particular to a variable-joint super-redundancy robot arm body.
Background
With the complication and narrowing of the operating environment, the ultra-redundancy robot is gradually paid attention by researchers and enterprises as a special robot with strong obstacle avoidance capability and deep cavity operation capability. Compare in traditional industrial robot on the one hand, the super redundancy robot arranges drive base in behind drive arrangement (motor) and transmission (reducing gear box, lead screw etc.), can effectively alleviate the operation arm quality like this, reduces the operation arm diameter. On the other hand, by optimizing the structural design, the super-redundancy snake-shaped robot has the degrees of freedom and larger bending angle as much as possible, so that the operation arm has extremely strong motion flexibility.
The super-redundancy snake-shaped robot is generally provided with a driving base behind a driving device (motor) and a transmission device (a screw rod, a reduction gearbox and a linear sliding rail), so that the size of the super-redundancy mechanical arm can be reduced, and the super-redundancy mechanical arm can be detected or operated in a narrow space. In actual detection tasks, the degree of freedom of the mechanical arm needs to be specially designed in a flexible mode under specific environments, so that the preset detection tasks can be achieved with the minimum number of driving numbers, and therefore, the design is provided under the complex specific environment that a large-scale equipment shell with the thickness of 1.5m needs to penetrate in a narrow space and unknown environment detection needs to be carried out on an inner cavity of the equipment, and the design is extremely suitable for the environment with large-range motion requirements in the horizontal direction and small-range motion capability requirements in the vertical direction. The chinese patent application No. CN201711471782.7 discloses a two-degree-of-freedom linkage joint section and a flexible mechanical arm, which are also designed to optimize the structure of the mechanical arm for reducing the number of rear-end drives of a super-redundant robot, and a general super-redundant robot needs a large number of rear-end drive motors to drive the motion of the mechanical arm due to its large degree of freedom, and excessive drives will increase the overall size of the robot and decrease the stability of the system, so the degree-of-freedom distribution of the mechanical arm and the structural design of the mechanical arm joint need to be considered to reduce the number of drives as much as possible. The design divides the joint into a plurality of sections, each joint section has two degrees of freedom, and the inner sections of the joint sections have poor flexibility and poor movement capability in a limited environment because the corners are always kept the same; the design does not consider the problem of retraction of the mechanical arm, and the length of the whole mechanical arm is longer under the same motion capability, so that the robot is not beneficial to transportation and storage; the structure of the joint is extremely complicated, and the assembly is extremely complicated.
Therefore, those skilled in the art are dedicated to develop a variable joint super-redundant robot arm body, which has lower freedom degree under the same motion posture on the basis of ensuring the bearing performance and the operation performance.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problems to be solved by the present invention are: how to solve the technical problems of poor flexibility, low motion capability, complex structure, complex assembly and inconvenient transportation and storage of the conventional flexible mechanical arm.
In order to achieve the above object, the present invention provides a variable joint super-redundant robot arm, comprising: a driving rope and a flexible arm body,
the flexible arm body comprises a starting end arm body, a middle section arm body and a tail end arm body which are sequentially connected;
the start arm body realizes the bending in the vertical direction, the middle arm body realizes the bending in the horizontal direction, and the tail end arm body can realize the bending in the horizontal direction and the vertical direction simultaneously.
Furthermore, the number of the starting end arm bodies is 3, and the starting end arm bodies are connected through starting end joints;
the starting end joint is provided with a first arm body connecting groove and is connected with the starting end arm body through the first arm body connecting groove;
the starting joint further comprises a starting joint limit configured to enable the starting joint to bend in only one direction, so as to limit the movement posture of the front three starting arm bodies.
Furthermore, the starting end joint further comprises a first starting end driving rope hole, a first middle section driving rope hole and a first tail end driving rope hole, and the driving rope penetrates through the first starting end driving rope hole and is fixed on the last section of the starting end joint to drive the starting end arm body.
Further, the starting joint is provided with a first rotating pair, and the first rotating pair comprises a first pin and a first copper sleeve;
the first pin is fixed on the first top thread.
Furthermore, the number of the middle-section arm bodies is 12, and the middle-section arm bodies are connected through middle-section joints;
the middle section is equipped with second arm body spread groove, the middle section joint passes through second arm body spread groove with the middle section arm body links to each other.
Further, the middle section joint includes the terminal drive rope hole of second and the drive rope hole of second middle section, the drive rope passes in proper order first middle section drive rope hole and the drive rope hole of second middle section, and the drive the middle section arm body.
Further, the middle joint is provided with a second horizontal rotating pair, and the second horizontal rotating pair comprises a second pin and a second copper sleeve;
and the second jackscrew is used for fixing the second pin.
Further, the number of the tail end arm bodies is 4, and the tail end arm bodies are connected through tail end joints;
the tail end joint is provided with a third arm connecting groove, and the tail end joint is connected with the tail end arm through the third arm connecting groove.
Further, the end joint comprises a third end driving rope hole, and the driving rope sequentially passes through the first end driving rope hole, the second end driving rope hole and the third end driving rope hole and drives the end arm body;
and hollow wire passing grooves are formed in the middle positions of the starting end joint, the middle section joint and the tail end joint, and are used for the actuator line to pass through and connected with the driving end mechanism.
Further, the end joint further comprises a third pin, a third copper sleeve and a universal joint;
and the third jackscrew is used for fixing the third pin.
Compared with the prior art, the invention at least has the following beneficial technical effects:
according to the invention, the joint length of the tail end of the super-redundancy mechanical arm is shortened, and the flexibility of the tail end of the super-redundancy mechanical arm is improved. The joint of the middle section of the super-redundancy mechanical arm is changed into a single-degree-of-freedom joint, the number of driving ropes needed by the middle section is reduced, the integral degree of freedom of the mechanism under the condition of equal joints is reduced, and the control difficulty is reduced under the condition of not influencing the actual working capacity. Meanwhile, the invention changes 3 sections of starting end joints into an integrated one-way joint, and lengthens the length of the starting end arm body, thus eliminating useless active degree of freedom, improving the bearing capacity of the starting end of the super-redundant mechanical arm and meeting the design requirement.
The conception, specific structure and technical effects of the present invention will be further described in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention.
Drawings
FIG. 1 is a schematic diagram of the whole structure of a variable joint super-redundancy robot arm body;
FIG. 2 is a schematic view of the starting joint structure of the present invention;
FIG. 3 is a schematic view of a mid-section joint configuration of the present invention;
FIG. 4 is a schematic view of the end joint structure of the present invention;
wherein:
1-driving a rope; 2-the initial joint; 2.1-first starting end driving rope hole; 2.2-first middle section drive rope hole; 2.3-first end drive rope hole; 2.4-first pin; 2.5-a first copper sleeve; 2.6-first jackscrew; 2.7-limiting the joint at the starting end; 2.8-first arm connecting groove; 3-starting end arm body; 4-middle joint; 4.1-second end drive rope hole; 4.2-second middle section driving rope hole; 4.3-a second hollow wire passing groove; 4.4-a second pin; 4.5-second copper sleeve; 4.6-second top thread; 4.7-second arm connecting groove; 5-middle arm body; 6-terminal joint; 6.1-third end drive rope hole; 6.2-third pin; 6.3-third copper sheathing; 6.4-third top thread; 6.5-universal joint; 6.6-third arm connecting groove; 6.7-third hollow wire passing groove; 7-terminal arm.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings for clarity and understanding of technical contents. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in figure 1, the variable joint super-redundancy robot arm body comprises a driving rope 1, a starting end joint 2, a starting end arm body 3, a middle section joint 4, a middle section arm body 5, a tail end joint 6 and a tail end arm body 7, wherein the starting end arm body 3, the middle section arm body 5 and the tail end arm body 7 are sequentially connected, and the length design of each joint is different.
The starting end joint 2 can only move in one direction and is connected with the starting end arm body 3, in the embodiment, 3 starting end arm bodies 3 are used for bending upwards at the starting end of the super-redundant arm body and are driven by a group of two driving ropes 1. The middle section joint 4 is a single-degree-of-freedom motion joint, can rotate in the horizontal direction, is connected with the middle section arm bodies 5, has 12 middle section arm bodies 5 in total, is responsible for the bending motion of the middle section of the super-redundant arm body, and each middle section arm body 5 is driven by a group of two driving ropes 1, and has 12 groups in total. The tail end joint 6 is a joint with two degrees of freedom, can rotate in the horizontal and vertical directions, is connected with the tail end arm body 7, has 4 tail end arm bodies 7 in total, is responsible for the tail end operation of the super-redundant mechanical arm, and each tail end arm body 7 is driven by a group of 3 driving ropes 1, and has 4 groups in total.
As shown in fig. 2, the starting joint 2 further includes a first starting driving rope hole 2.1, a first middle driving rope 2.2, a first end driving rope hole 2.3, a first pin 2.4, a first copper bush 2.5, a first jackscrew 2.6, a starting joint limit 2.7, and a first arm connecting groove 2.8.
The driving rope 1 is fixed on the last initial end joint 2 through a first initial end driving rope hole 2.1 positioned right above the initial end joint 2 to drive the initial end arm body 3. The rest of the driving ropes 1 need to pass through the first middle section driving rope holes 2.2 and the first tail end driving rope holes 2.3. The revolute pair of the starting joint 2 is composed of a first pin 2.4 and a first copper sleeve 2.5, and the first pin 2.4 is fixed by a first jackscrew 2.6. The starting joint limit 2.7 enables the starting joint 2 to bend towards one direction only, and the motion posture of the front three-section starting arm body 3 is limited. The starting end joint 2 is connected with the starting end arm body 3 through a first arm body connecting groove 2.8.
As shown in fig. 3, the middle joint 4 includes a second end driving rope hole 4.1, a second middle driving rope hole 4.2, a second hollow wire passing groove 4.3, a second pin 4.4, a second copper sleeve 4.5, a second jackscrew 4.6, and a second arm connecting groove 4.7.
The driving rope 1 is fixed on a second middle section driving rope hole 4.2 positioned at two sides of the middle section joint 4 and drives the middle section arm body 5, and the rest driving ropes 1 pass through the second tail end driving rope hole 4.1. The end-required actuator line can be connected to the drive end mechanism via the second hollow line passage 4.3. The horizontal rotation pair of the middle joint 4 consists of a second pin 4.4 and a second copper sleeve 4.5, and the second pin 4.4 is fixed by a second jackscrew 4.6. The middle section joint 4 is connected with the middle section arm body 5 through a second arm body connecting groove 4.7.
As shown in fig. 4, the end joint 6 includes a third end driving rope hole 6.1, a third pin 6.2, a third copper bush 6.3, a third jackscrew 6.4, a universal joint 6.5, a third arm connecting groove 6.6, and a third hollow wire passing groove 6.7.
The driving rope 1 drives the end arm body 7 through a third end joint rope hole 6.1 positioned at the circumferential direction of the end joint 6. The end-required actuator line can be connected to the drive end mechanism via a third hollow line passage 6.7. The two degrees of freedom of the end joint 6 are composed of a third pin 6.2, a third copper sleeve 6.3 and a universal joint 6.5, and the third pin 6.2 is fixed by a third jackscrew 6.4. The end knuckle 6 is connected to the end arm 7 by a third arm connecting slot 6.6.
The working process of the variable joint super-redundancy robot arm body comprises the following steps:
the joint-variable super-redundancy robot arm body comprises a driving rope 1, a starting end joint 2, a starting end arm body 3, a middle section joint 4, a middle section arm body 5, a tail end joint 6 and a tail end arm body 7, wherein the starting end arm body 3, the middle section arm body 5 and the tail end arm body 7 are sequentially connected, and the length design of each section is different.
The starting end joint 2 comprises a first starting end driving rope hole 2.1, a first middle section driving rope 2.2, a first tail end driving rope hole 2.3 and a starting end joint limiting 2.7, the first starting end driving rope hole 2.1 is located in the vertical direction of the starting end joint 2, the driving rope 1 passes through the joint starting end joint 3 and is fixed on the last starting end joint 2, and meanwhile, the starting end arm body 3 is driven to bend upwards. The starting end joint limit 2.7 is positioned below the starting end joint 2 to limit the downward bending of the starting end arm body 3 and ensure the motion posture of the front three-section starting end arm body 3.
The middle joint 4 comprises a second end driving rope hole 4.1 and a second middle driving rope hole 4.2. The second middle section driving rope holes 4.2 are positioned at two sides of the middle section joints 4 at intervals of 180 degrees, and 12 groups of two driving ropes 1 are respectively and sequentially fixed at two sides of the 12 middle section joints 4 to drive the middle section arm bodies 5 to bend left and right.
The end knuckle 6 comprises a third end drive cord hole 6.1. The third end driving rope holes 6.1 are circumferentially distributed on the end joints 6, 4 groups of 3 driving ropes are respectively fixed on the 4 end joints 6 at intervals of 120 degrees in sequence to drive the end arm bodies 7 to bend horizontally and vertically, and the total degree of freedom is 8.
The length of the starting end arm body 3 is greater than that of the middle section arm body 5 and also greater than that of the tail end arm body 7, and 4 sections of the shortest tail end arm bodies with 8 degrees of freedom form the tail end of the super-redundancy mechanical arm, so that flexible operation is realized. 12 sections of middle arm bodies are responsible for turning the middle section of the super-redundancy mechanical arm, and 3 sections of starting end arm bodies are responsible for supporting the whole super-redundancy mechanical arm.
According to the variable-joint super-redundancy robot arm body provided by the embodiment of the invention, the joint length of the tail end of the super-redundancy mechanical arm is shortened, so that the flexibility of the tail end of the super-redundancy mechanical arm is improved. The joint of the middle section of the super-redundant mechanical arm is changed into a single-degree-of-freedom joint, the number of driving ropes needed by the middle section is reduced, the integral degree of freedom of the mechanism under the condition of equal joints is reduced, and the difficulty of control is reduced under the condition that the actual working capacity is not influenced. The joint at the starting end of the section 3 is changed into an integrated one-way joint, the length of the arm body at the starting end is lengthened, useless active freedom degree is eliminated, the bearing capacity of the starting end of the super-redundancy mechanical arm is improved, and the stability of the whole device is improved.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A become super redundant robot arm body in joint, its characterized in that includes: a driving rope and a flexible arm body,
the flexible arm body comprises a starting end arm body, a middle section arm body and a tail end arm body which are sequentially connected;
the starting end arm body realizes bending in the vertical direction, the middle section arm body realizes bending in the horizontal direction, and the tail end arm body can realize bending in the horizontal direction and the vertical direction simultaneously.
2. The variable-joint super-redundancy robot arm body as claimed in claim 1, wherein the number of the starting end arm bodies is 3, and the starting end arm bodies are connected through starting end joints;
the starting end joint is provided with a first arm body connecting groove and is connected with the starting end arm body through the first arm body connecting groove;
the starting joint further comprises a starting joint limit configured to enable the starting joint to bend in only one direction, so as to limit the movement posture of the front three starting arm bodies.
3. The variable-joint hyper-redundancy robot arm body as claimed in claim 2, wherein the starting-end joint further comprises a first starting-end drive rope hole, a first middle-section drive rope hole and a first end-end drive rope hole, and the drive rope passes through the first starting-end drive rope hole and is fixed on the last section of the starting-end joint to drive the starting-end arm body.
4. The variable joint super-redundancy robot arm body according to claim 3, wherein the starting joint is provided with a first rotating pair, and the first rotating pair comprises a first pin and a first copper sleeve;
the first pin is fixed on the first jackscrew.
5. The variable joint super-redundancy robot arm body according to claim 3, wherein the number of the middle arm bodies is 12, and the middle arm bodies are connected through middle joints;
the middle section is equipped with second arm body spread groove, the middle section joint passes through second arm body spread groove with the middle section arm body links to each other.
6. The variable joint super-redundancy robot arm according to claim 5, wherein the middle section joint comprises a second end driving rope hole and a second middle section driving rope hole, the driving rope sequentially passes through the first middle section driving rope hole and the second middle section driving rope hole and drives the middle section arm.
7. The variable joint super-redundancy robot arm body according to claim 6, further characterized in that the middle joint is provided with a second horizontal rotating pair, and the second horizontal rotating pair comprises a second pin and a second copper sleeve;
and the second jackscrew is used for fixing the second pin.
8. The variable-joint super-redundancy robot arm body as claimed in claim 7, wherein the number of the end arm bodies is 4, and the end arm bodies are connected through end joints;
the tail end joint is provided with a third arm connecting groove, and the tail end joint is connected with the tail end arm through the third arm connecting groove.
9. The variable joint super-redundancy robot arm body according to claim 8, wherein the end joint comprises a third end driving rope hole, the driving rope sequentially passes through the first end driving rope hole, the second end driving rope hole and the third end driving rope hole and drives the end arm body;
and hollow wire passing grooves are formed in the middle positions of the starting end joint, the middle section joint and the tail end joint, and are used for the actuator line to pass through and connected with the driving end mechanism.
10. The variable-joint super-redundant robot arm body according to claim 9, wherein the end joint further comprises a third pin, a third copper sleeve and a universal joint;
and the third jackscrew is used for fixing the third pin.
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| CN202210594385.3A CN114905498B (en) | 2022-05-27 | 2022-05-27 | Variable-joint super-redundancy robot arm body |
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| CN202210594385.3A CN114905498B (en) | 2022-05-27 | 2022-05-27 | Variable-joint super-redundancy robot arm body |
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| CN114905498B CN114905498B (en) | 2024-04-30 |
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| CN113977630A (en) * | 2021-10-21 | 2022-01-28 | 广州大学 | Variable-rigidity continuous mechanical arm based on air spring |
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| CN114905498B (en) | 2024-04-30 |
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