CN214870593U - Passive compliance device suitable for line drive arm - Google Patents
Passive compliance device suitable for line drive arm Download PDFInfo
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- CN214870593U CN214870593U CN202121668239.8U CN202121668239U CN214870593U CN 214870593 U CN214870593 U CN 214870593U CN 202121668239 U CN202121668239 U CN 202121668239U CN 214870593 U CN214870593 U CN 214870593U
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Abstract
The utility model relates to a gentle and agreeable device passively suitable for line drive arm, this gentle and agreeable device passively suitable for line drive arm, first mount pad and second mount pad including two relative settings, first mount pad with parallelly connected pneumatic damping pole and the spring of being equipped with between the second mount pad, first mount pad or/and be connected with the rope fixed part on the second mount pad. This passive compliance device suitable for line drive arm when using in the joint of line drive arm, through the parallel effect of pneumatic damping pole and spring, can play comparatively steady cushioning effect to it when the joint is used, inertia influence when having reduced the joint and being used has shown the compliance when having improved the joint and being used to make line drive arm obtain better passive compliance function.
Description
Technical Field
The utility model relates to an arm field especially relates to a gentle and agreeable device passively suitable for line drive arm.
Background
Human-computer interaction technology has been a hot spot of research in the scientific community because it is a key feature driving the boundaries of conventional industrial robots. The wire-driven mechanical arm has the characteristics of low friction, low inertia and good flexibility compared with other mechanical arms, so the main improvement direction is now to increase the rigidity of the mechanical arm, for example, patent CN211682200U, although the rigidity of the wire-driven mechanical arm is significantly improved, but the flexibility performance is also affected.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a remedy prior art not enough, provide a gentle and agreeable device passively suitable for line drive arm, use in the line drive arm, can show and improve its flexibility passively.
The utility model discloses a solve the technical scheme that above-mentioned technical problem adopted and be:
the utility model provides a gentle and agreeable device passively suitable for line drive arm, includes first mount pad and the second mount pad of two relative settings, first mount pad with parallelly connected pneumatic damping rod and the spring of being equipped with between the second mount pad, first mount pad or/and be connected with the rope fixed part on the second mount pad.
The elbow joint and the wrist joint of line drive arm can set up passive gentle and agreeable device as required to the elbow joint is the example, and the elbow joint adopts single degree of freedom joint, and it has the fixed part and the rotating part of mutually supporting to and the driving rope, accept drive power through the driving rope and realize that the rotating part rotates along the fixed part, thereby realize the rotation of elbow joint. Wherein, the drive rope is cycle drive, adopts its direct drive elbow joint, can satisfy elbow joint rigidity demand, but because inertia influence and flexibility subalternation problem during its use lead to the result of use not good enough. The passive compliance device of this application can use with the cooperation of driving rope, is showing to improve elbow joint effect compliance.
The first use scheme is as follows: be connected with two passive gentle and agreeable devices in the driving rope, two passive gentle and agreeable devices are the reverse effect and connect in the driving rope, and is concrete, makes it connect in the driving rope through the rope fixed part of the first mount pad of passive gentle and agreeable device and second mount pad, and the spring is in tensile state this moment always. When the pneumatic damping device works, when the driving rope receives driving force in one direction, the inertia of the pneumatic damping rod and the spring in the extension direction of one passive compliance device is reduced, the spring is further stretched, and the pneumatic damping rod extends; the inertia of the other passive compliance device in the retraction direction is reduced by the pneumatic damping rod and the spring, and the spring in the stretching state retracts under the action of restoring force and drives the pneumatic damping rod to retract. The pneumatic damping rod has an approximately linear elastic curve, the acting speed is relatively slow, the dynamic force change is small, and the pneumatic damping rod is matched with the spring for use, so that the pneumatic damping rod can buffer the elbow joint when the elbow joint acts, the driving rope can be always kept in a tight state, the inertia influence of the elbow joint when the elbow joint acts is reduced, the acting flexibility of the elbow joint is obviously improved, and the mechanical arm has a better passive flexible function. When the driving rope receives the driving force in the other direction, the two driven compliant devices act in the opposite direction.
The use scheme II comprises the following steps: the tail end of the driving rope is connected with two passive compliance devices, one of the first mounting seat and the second mounting seat of each passive compliance device can be connected to a rack of the mechanical arm, and the other mounting seat is provided with a rope fixing part fixedly connected with the tail end of the driving rope, (1) when the driving rope is connected in the extension line direction of the spring, the spring is always in a stretching state and connected with the spring, and the action principle of the elbow joint is the same as that of the first use scheme. (2) If the driving rope and the spring are overlapped during connection, the spring is always in a compressed state and is connected with the spring, namely, the compression spring is adopted, so that the first mounting seat of the passive compliance device is provided with a rope fixing part to be connected with the tail end of the driving rope in order to describe the use process, and the second mounting seat is connected with the rack of the mechanical arm. Furthermore, be equipped with the spacing hole that the driving rope that supplies line drive arm passed on the second mount pad, the orientation of seting up in spacing hole with pneumatic damping rod or compression spring's effect direction is the same, during the concrete joint, makes spring one end connect on first mount pad, and the other end is connected with the elbow joint behind the spacing hole of second mount pad. When the pneumatic damping device is used, when the driving rope receives driving force in one direction, the driving rope pulls the first mounting seat for one passive compliant device, so that the spring is further compressed, and the pneumatic damping rod extends; for the other passive compliance device, the compressed spring retracts under the restoring force thereof to tighten the driving rope and simultaneously push the pneumatic damping rod to retract. When the driving rope receives the driving force in the other direction, the two driven compliant devices act in the opposite direction.
In one example, on the basis of (2), the number of the compression springs is one, the two pneumatic damping rods are arranged and are respectively arranged on two sides of the compression springs, the compression springs are arranged between the rope fixing portions and the limiting holes, and the driving ropes can be arranged in the compression springs in a penetrating mode during specific installation, so that the passive compliance device can play a role more stably along with the driving ropes.
In one example, the pneumatic damping rod further comprises a rope limiting part fixed on the driving rope, the rope limiting part is arranged between the first mounting seat and the second mounting seat, and the farthest distance between the rope limiting part and the second mounting seat is not more than the length which can be output by the pneumatic damping rod. The rope limiting part is fixed on the driving rope when in use and is used for protecting the pneumatic damping rod and avoiding the end part of the pneumatic damping rod from colliding with the outer cylinder when the pneumatic damping rod retracts.
In one example, the rope stop may employ, but is not limited to, the following structure: the rope limiting part comprises a limiting block provided with a through hole, a screw hole is formed in one side of the limiting block, and an inner hexagonal locking set screw or a common screw is connected in the screw hole.
In one example, both ends of the pneumatic damping rod are respectively hinged with the first mounting seat and the second mounting seat.
In one example, the output end of the pneumatic damping rod is hinged with the first mounting seat, so that when the use scheme two (2) is adopted, the first mounting seat end is lighter and the effect is more stable.
In one example, the rope fixing portion includes a fixing block having a through hole, a screw hole is formed at one side of the fixing block, and a hexagon socket locking fixing screw is connected in the screw hole.
In one example, in addition to welding or screwing the fixing block to the first mounting seat or the second mounting seat, the fixing block may be fixed in the following manner: a fixing hole is formed in the first mounting seat or the second mounting seat, and the rope fixing part is arranged at one side of the fixing hole in an abutting mode, for example, for the use scheme two (1), the rope fixing part is arranged at one side close to the spring; for (2), the cord securing portion is disposed on a side away from the spring.
The utility model adopts the above technical scheme, the advantage that has is:
1. this application is gentle and agreeable device passively when using in the joint of on-line drive arm, through the parallel effect of pneumatic damping rod and spring, plays comparatively steady cushioning effect to it when the joint is used, inertia influence when having reduced the joint and acting on is showing the compliance when having improved the joint and acting on to make the arm obtain better gentle and agreeable function passively.
2. The passive compliance device can improve the action stability of the passive compliance device through the configuration of the number of the springs and the number of the pneumatic damping rods; the arrangement of the rope limiting part can protect the pneumatic damping rod; the structure setting of spacing portion of rope and rope fixed part facilitates installation and maintenance.
Drawings
Fig. 1 is a schematic structural diagram of the application of embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of embodiment 2 of the present invention;
FIG. 3 is a schematic view of the structure of the passive compliance device and the driving rope in FIG. 2;
fig. 4 is a schematic view of the rope fixing portion of fig. 3.
In the figure, 1, a first mounting seat, 2, a second mounting seat, 3, a pneumatic damping rod, 4, a spring, 5, a rope fixing part, 6, a driving rope, 7, a rope limiting part, 8 and an elbow joint; 11. fixing hole, 21, limiting hole, 51, fixing block, 52 and hexagon socket head cap set screw.
Detailed Description
In order to clearly illustrate the technical features of the present invention, the present invention is explained in detail by the following embodiments with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.
In addition, in the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The defects of the offline driving mechanical arm are simply described as follows: taking the elbow joint as an example, the elbow joint adopts a single-degree-of-freedom joint which is provided with a fixed part, a rotating part and a driving rope, wherein the fixed part and the rotating part are matched with each other, and the driving rope receives driving force to realize the rotation of the rotating part along the fixed part, so that the rotation of the elbow joint is realized. Wherein, the drive rope is cycle drive, adopts its direct drive elbow joint, can satisfy elbow joint rigidity demand, but because inertia influence and flexibility subalternation problem during its use lead to the result of use not good enough. The passive compliance device of this application can use with the cooperation of driving rope, is showing to improve elbow joint effect compliance. During specific implementation, the elbow joint and the wrist joint of the linear driving mechanical arm can be provided with passive compliant devices according to requirements.
Example 1:
as shown in fig. 1, in this embodiment, the passive compliance device suitable for a line driving robot arm includes a first mounting seat 1 and a second mounting seat 2 that are arranged opposite to each other, a pneumatic damping rod 3 and a spring 4 are connected in parallel between the first mounting seat 1 and the second mounting seat 2, and a rope fixing portion 5 is connected to the first mounting seat 1 or the second mounting seat 2.
When in use: the end of the driving rope 6 is connected with two passive compliance devices, the two passive compliance devices are in reverse action application connection, one of the first mounting seat 1 and the second mounting seat 2 of the specific passive compliance device can be connected to the frame of the mechanical arm, the other one of the first mounting seat and the second mounting seat is provided with a rope fixing part 5 and fixedly connected with the end of the driving rope 6, the driving rope 6 is connected in the extension line direction of the spring during connection, and the spring 4 is always in a stretching state and connected with the extension spring, namely the extension spring. When the pneumatic damping device works, when the driving rope 6 receives driving force in one direction, the inertia of the pneumatic damping rod 3 and the spring 4 of one passive compliance device in the extension direction is reduced, at the moment, the spring is further stretched, and the pneumatic damping rod extends; the pneumatic damping rod 3 and the spring 4 of the other passive compliance device reduce the inertia of the retraction direction, and at the moment, the spring 4 in the stretching state retracts under the action of restoring force and drives the pneumatic damping rod 3 to retract. Because the pneumatic damping rod 3 has an approximately linear elastic curve, the acting speed is relatively slow, the dynamic force change is not large, and the pneumatic damping rod is matched with the spring for use, so that the pneumatic damping rod can buffer the elbow joint 8 when acting, the driving rope can be always kept in a tight state, the inertia influence of the joint when acting is reduced, the acting flexibility of the elbow joint is obviously improved, and the mechanical arm can obtain a better passive flexible function. When the driving rope 6 receives the driving force in the other direction, the two driven compliant devices act in the opposite direction.
Example 2:
as shown in fig. 2 to 4, the present embodiment is different from embodiment 1 in that a rope fixing portion 5 is disposed on the first mounting seat 1, a limiting hole 21 through which a driving rope 6 of the linear driving mechanical arm passes is disposed on the second mounting seat 2, an opening direction of the limiting hole 21 is the same as an acting direction of the pneumatic damping rod 3 or the spring 4, and the spring 4 is a compression spring when applied to the linear driving mechanical arm.
When in use: at 6 end-to-end connection two passive gentle and agreeable devices of driving rope, in the first mount pad 1 and the second mount pad 2 of passive gentle and agreeable device, one of them can be connected in the frame of arm, another is equipped with rope fixed part 5 and the 6 terminal rigid couplings of driving rope, for the convenience of description use, make the first mount pad 1 of passive gentle and agreeable device be equipped with rope fixed part 5 and the 6 end links to each other of driving rope, second mount pad 2 links to each other with the frame of arm, compression spring one end is connected on first mount pad 1, the other end is connected with the elbow joint of arm behind the spacing hole of second mount pad 2. In operation, when the driving rope 6 receives driving force in one direction, for one passive compliance device, the driving rope 6 pulls the first mounting seat 1, so that the spring 4 is further compressed, and the pneumatic damping rod extends; for the other passive compliance device, the compressed spring retracts to tension the drive rope 6 under its restoring force, and simultaneously pushes the pneumatic damping rod 3 to retract. When the driving rope 6 receives the driving force in the other direction, the two driven compliant devices act in the opposite direction.
Further, compression spring is equipped with one, pneumatic damping rod 3 is equipped with two and locates separately compression spring's both sides, compression spring arranges in rope fixed part 5 with between the spacing hole 21, during drive rope 6 can wear to locate compression spring during specific installation for passive gentle and agreeable device can be along with the more stable performance of drive rope.
Further, the passive compliance device further comprises a rope limiting part 7 used for being fixed on the driving rope 6, the rope limiting part 7 is arranged between the first mounting seat 1 and the second mounting seat 2, and the farthest distance between the rope limiting part 7 and the second mounting seat 2 is not greater than the length which can be output by the pneumatic damping rod 3. The rope limiting part 7 is fixed on the driving rope 6 when in use, and the function of the rope limiting part is to protect the pneumatic damping rod 3 and avoid the end part of the pneumatic damping rod 3 from colliding with an outer cylinder when retracting.
Further, the rope-restraining portion 7 and the rope-fixing portion 5 may adopt, but are not limited to, the following configurations: the limiting part of the rope comprises a limiting block provided with a through hole, a screw hole is formed in one side of the limiting block, and an inner hexagonal locking set screw is connected in the screw hole. The rope fixing portion 5 comprises a fixing block 51 provided with a through hole, a screw hole is formed in one side of the fixing block 51, and an inner hexagonal locking fixing screw 52 is connected in the screw hole.
Furthermore, the two ends of the pneumatic damping rod 3 are respectively hinged with the first mounting seat 1 and the second mounting seat 2.
Furthermore, the output end of the pneumatic damping rod 3 is hinged to the first mounting seat 1, the end of the first mounting seat 1 is lighter, and the mechanical arm is more stable.
Further, besides the fixing block 51 can be welded or screwed to the first mounting seat 1, the following fixing method can be adopted: the fixing hole 11 is formed in the first mounting seat 1, and when the passive compliance device is applied, the rope fixing portion is arranged on one side of the fixing hole far away from the spring, so that the mounting and maintenance are facilitated.
The above-mentioned specific embodiments can not be regarded as the restriction to the scope of protection of the utility model, to technical personnel in this technical field, it is right the utility model discloses any replacement improvement or transform that embodiment made all fall within the scope of protection of the utility model.
The parts of the present invention not described in detail are the known techniques of those skilled in the art.
Claims (9)
1. The utility model provides a gentle and agreeable device passively suitable for line drive arm which characterized in that, includes two relative first mount pad and the second mount pad that sets up, first mount pad with parallelly connected pneumatic damping rod and the spring of being equipped with between the second mount pad, first mount pad or/and be connected with the rope fixed part on the second mount pad.
2. The passive compliant device suitable for a wire-driven mechanical arm of claim 1, wherein the spring is a compression spring, the first mounting seat is connected to a rope fixing portion, the second mounting seat is provided with a limiting hole for a driving rope of the wire-driven mechanical arm to pass through, and the opening direction of the limiting hole is the same as the acting direction of the pneumatic damping rod or the compression spring.
3. The passive compliant device for a wire driven mechanical arm of claim 2, wherein there is one compression spring, two pneumatic damping rods are disposed on two sides of the compression spring, and the compression spring is disposed between the rope fixing portion and the limiting hole.
4. The passive compliant device for a wire driven mechanical arm of claim 2 or 3, further comprising a rope limiting part for fixing on the driving rope, wherein the rope limiting part is disposed between the first mounting seat and the second mounting seat, and the farthest distance from the rope limiting part to the second mounting seat is not greater than the length that the pneumatic damping rod can output.
5. The passive compliant device suitable for a line driving manipulator of claim 4, wherein the rope limiting portion comprises a limiting block with a through hole, one side of the limiting block is provided with a screw hole, and a hexagon socket set screw is connected in the screw hole.
6. The passive compliant device for a wire driven mechanical arm of claim 1, wherein two ends of the pneumatic damping rod are hinged to the first mounting seat and the second mounting seat respectively.
7. The passive compliant device for a wire driven mechanical arm of claim 6 wherein the output end of the pneumatic dampening bar is hinged to the first mount.
8. The passive compliant device for a wire driven mechanical arm of claim 1, wherein the rope securing portion comprises a securing block with a through hole, a screw hole is formed in one side of the securing block, and a socket head cap set screw is connected in the screw hole.
9. The passive compliant device suitable for a wire-driven mechanical arm of claim 8, wherein a fixing hole is formed on the first mounting seat or the second mounting seat, and the rope fixing portion is disposed in contact with one side of the fixing hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121668239.8U CN214870593U (en) | 2021-07-21 | 2021-07-21 | Passive compliance device suitable for line drive arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121668239.8U CN214870593U (en) | 2021-07-21 | 2021-07-21 | Passive compliance device suitable for line drive arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214870593U true CN214870593U (en) | 2021-11-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121668239.8U Active CN214870593U (en) | 2021-07-21 | 2021-07-21 | Passive compliance device suitable for line drive arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214870593U (en) |
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2021
- 2021-07-21 CN CN202121668239.8U patent/CN214870593U/en active Active
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