CN113858257B - Robot wrist with large-range variable rigidity - Google Patents
Robot wrist with large-range variable rigidity Download PDFInfo
- Publication number
- CN113858257B CN113858257B CN202111078245.2A CN202111078245A CN113858257B CN 113858257 B CN113858257 B CN 113858257B CN 202111078245 A CN202111078245 A CN 202111078245A CN 113858257 B CN113858257 B CN 113858257B
- Authority
- CN
- China
- Prior art keywords
- rod
- wrist
- platform
- robot
- elastic element
- 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot wrist with large-range variable rigidity, which comprises a variable rigidity driver and a wrist assembly, wherein a rotating shaft is arranged on the variable rigidity driver, an elastic element is arranged on the rotating shaft, mounting rods are arranged on two sides of the elastic element and fixedly arranged on the variable rigidity driver, the wrist assembly comprises a top rod, a pulley frame, a bottom rod, a mounting rod and a connecting rod, a planar parallel mechanism is arranged on the top rod, the planar parallel mechanism comprises an upper platform, a lower platform and two groups of branched chain structures, a plurality of groups of limiting columns are arranged on the branched chain structures, the bottom rod and the connecting rod, a wire column is arranged on the upper platform, a traction wire is arranged on the wire column, one end of the traction wire is fixed on the wire column, and the other end of the traction wire is connected with the elastic element through the limiting columns and the pulleys.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot wrist with large-range variable rigidity.
Background
During the movement of the industrial robot to the work object, the wrist is required to be relatively rigid to reduce deformation and oscillation of the wrist. Meanwhile, deformation of the variable-stiffness wrist caused by low stiffness is avoided, and therefore the positioning accuracy of the variable-stiffness wrist is improved to accurately position the position of the operation object. And then in the process of contacting with the working object, the robot and the working object are blocked due to the position and orientation errors of the robot and the working object. The rigidity of the variable-rigidity wrist is required to be smaller, and under the action of clamping resistance, the relative pose between the robot and the operation object is automatically adjusted, and the pose error is compensated, so that the operation is completed. Therefore, according to different working procedures in the operation process of the robot, the wrist needs to be adjusted to different rigidities in real time in a large range on line.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art and provides a robot wrist with large-range variable rigidity.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: the utility model provides a become robot wrist of rigidity on a large scale, includes and becomes rigidity driver and wrist subassembly, it is provided with the pivot on the rigidity driver to become, be provided with elastic element in the pivot, the elastic element both sides are provided with the installation pole, the installation pole is fixed to be set up become rigidity driver is last, wrist subassembly includes top pole, pulley yoke, bottom pole and connecting rod, the bottom pole sets up become rigidity driver with between the installation pole, be provided with on the bottom pole the shaft hole that the pivot passed, the bottom pole with connecting rod fixed connection, the connecting rod with the pulley yoke is articulated, be provided with the pulley on the pulley yoke, the pulley yoke with top pole fixed connection, be provided with plane parallel mechanism on the top pole, plane parallel mechanism includes upper mounting plate, lower platform and two sets of branch chain structures, upper mounting plate and lower platform pass through branch chain structure connects, all be provided with the spacing post of multiunit on branch chain structure, bottom pole and the connecting rod, be provided with the clearance between the spacing post, be provided with the terminal on the upper mounting plate, be provided with the pull wire on the post, pull wire one end is fixed on the terminal, pull wire and the other end pass respectively with elastic element connection of pulley.
Preferably, still be provided with spacing subassembly between upper mounting plate and the lower platform, spacing subassembly includes spacing piece and lower spacing piece in the top, go up spacing piece and lower spacing piece respectively with upper mounting plate and lower platform are articulated.
Preferably, the branched chain structure comprises an upper connecting plate and a lower connecting plate, the upper connecting plate is hinged to the upper platform and the lower connecting plate, and the lower connecting plate is hinged to the lower platform.
Preferably, an actuator is arranged on the upper platform.
The invention has the beneficial effects that:
the invention can install the variable-rigidity wrist on the industrial robot in a large range, and the wrist can be adjusted to different rigidities in a large range on line in real time according to different working procedures in the operation process of the robot. In the process that the industrial robot moves to the operation object, the wrist rigidity is adjusted to be a large value so as to avoid deformation and oscillation in the moving process of the robot and increase the precision of the robot in positioning the operation object; in the process of contacting with the working object, because the robot and the working object have pose errors, jamming exists between the robot and the working object. At the moment, the wrist rigidity is adjusted to be a smaller value to form a flexible wrist, the relative pose between the robot and the operation object is automatically adjusted under the action of the clamping resistance, and the pose error is compensated, so that the operation is completed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a partial structural view of a variable-stiffness wrist according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of the overall structure of a variable-stiffness wrist of embodiment 2 of the invention;
FIG. 3 is a schematic diagram of the mechanism of a variable stiffness wrist of embodiment 3 of the present invention;
fig. 4 is an overall structural view of an industrial robot incorporating the present invention.
The attached drawings are marked as follows:
1-bottom rod 2-connecting rod 3-pulley yoke 4-traction wire 5-top rod 6-spacing column 7-lower connecting plate 8-lower platform 9-upper connecting plate 10-upper platform 11-articulated shaft 12-lower spacing block 13-upper spacing block 14-wire column 15-elastic element 16-rotating shaft 17-mounting rod 18-variable rigidity driver 19-actuator 20-plane parallel structure 21-wrist component.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, preferred embodiments of which are illustrated in the accompanying drawings, wherein the drawings are provided for the purpose of visually supplementing the description in the specification and so forth, and which are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 4, in a preferred embodiment of the present invention, a robot wrist with large-range variable stiffness includes a variable stiffness wrist body, the variable stiffness wrist body includes a variable stiffness driver 18 and a wrist assembly 21, a rotating shaft 16 is disposed on the variable stiffness driver 18, an elastic element 15 is disposed on the rotating shaft 16, mounting rods 17 are disposed on two sides of the elastic element 15, the mounting rods 17 are fixedly disposed on the variable stiffness driver 18, the wrist assembly 21 includes a top rod 5, a pulley frame 3, a bottom rod 1 and a connecting rod 2, the bottom rod 1 is disposed between the variable stiffness driver 18 and the mounting rods 17, a shaft hole through which the rotating shaft 16 passes is disposed on the bottom rod 1, the bottom rod 1 is fixedly connected with the connecting rod 2, the connecting rod 2 is hinged to the pulley frame 3, a pulley is disposed on the pulley frame 3, the pulley frame 3 is fixedly connected with the top rod 5, a plane parallel mechanism 20 is disposed on the top rod 5, the plane parallel mechanism 20 includes an upper platform 10, a lower platform 8 and two groups of branch structures, the upper platform 10 and the lower platform 8 are connected with the pulley frame 6, a plurality of groups of upper ends of the pull posts 6 and a plurality of pull posts 14, and a plurality of pull post structures are disposed on the pull post structures, and a plurality of pull post structures 14, and a plurality of sets of limit post structures 6 are disposed on the pull post structures 14.
As a preferred embodiment of the present invention, it may also have the following additional technical features:
in this embodiment, still be provided with spacing subassembly between upper mounting plate 10 and the lower platform 8, spacing subassembly includes spacing piece 13 and lower spacing piece 12 down, go up spacing piece 13 and lower spacing piece 12 respectively with upper mounting plate 10 is articulated with lower platform 8, spacing piece 12 can rotate around the articulated shaft 11 of the articulated department of lower platform 8 down, and last spacing piece 13 can rotate around the articulated shaft 11 of the articulated department of lower spacing piece 12, and upper mounting plate 10 can rotate around the articulated shaft 11 of the articulated department of last spacing piece 13.
In this embodiment, the branched chain structure includes upper connection plate 9 and lower connection plate 7, upper connection plate 9 simultaneously with upper platform 10 with lower connection plate 7 is articulated, lower connection plate 7 with lower platform 8 is articulated.
In this embodiment, an actuator 19 is disposed on the upper platform 10.
In order to better understand the technical solution of the present invention, the following will be clearly and completely described with reference to the examples of the present invention, which are not intended to limit the present invention.
Detailed description of the preferred embodiment 1
Referring to fig. 2, when the planar parallel mechanism 20, the pulley yoke 3 and the bottom bar 1 are rotated from the equilibrium position, the pulling wire 4 stretches the elastic member 15 to generate a deformation, which generates a force against the rotation, which is converted into a stiffness of the wrist assembly 21, and the tension of the elastic member 15 is changed by stretching the elastic member 15 through the variable stiffness driver 18 to adjust the rotation stiffness of the wrist assembly 21, while the actuator 19 is mounted on the upper platform 10 of the variable stiffness wrist assembly 21 for robot work.
According to the invention, the variable stiffness driver 18 stretches the elastic element 15 to increase the tension of the elastic element 15 so as to increase the stiffness of the wrist assembly 21, thereby avoiding deformation and oscillation in the moving process of the robot and increasing the precision of the robot for positioning to a working object, and then in the contact process with the working object, the variable stiffness driver 18 adjusts the stretching length of the elastic element 15 so as to reduce the tension of the elastic element 15, so that the stiffness of the wrist assembly 21 is reduced, at the moment, the stiffness of the wrist assembly 21 becomes a flexible wrist, and under the action of a clamping resistance, the relative pose between the robot and the working object is automatically adjusted, and the pose error is compensated, so as to complete the operation, therefore, according to different working procedures in the operation process of the robot, the wrist assembly 21 can be adjusted to different stiffnesses in real time and in a large range.
Specific example 2
Referring to fig. 3, the plane parallel mechanism 20 can rotate around the rotation shaft 16 through the shaft hole on the bottom rod 1 and can also rotate around the rotation shaft where the connecting rod 2 is hinged with the pulley frame 3, the rotation axis of the plane parallel mechanism 20, the rotation axis of the bottom rod 1 and the rotation axis of the pulley frame 3 are mutually perpendicular, and simultaneously the plane parallel mechanism 20 can respectively translate parallel to the rotation axis of the bottom rod 1 and the rotation axis of the pulley frame 3, so as to realize 5-degree-of-freedom movement of rotation of the wrist assembly 21 around the space 3 shafts and translation along the plane 2 direction, thereby meeting the requirement of robot posture adjustment.
Specific example 3
Referring to fig. 4, the wrist assembly 21 with variable rigidity is mounted on the industrial robot, the wrist assembly 21 can be adjusted to different rigidities in real time in a large range on line according to different procedures in the operation process of the robot, and the rigidity of the wrist assembly 21 is adjusted to a larger value in the process that the industrial robot moves to an operation object so as to avoid deformation and oscillation in the moving process of the robot and increase the precision of the robot in positioning the operation object; in the process of contacting with the operation object, because the robot and the operation object have pose errors, and a jamming exists between the robot and the operation object, the rigidity of the wrist assembly 21 is adjusted to be a smaller value to form a flexible wrist, and under the action of the jamming, the relative pose between the robot and the operation object is automatically adjusted to compensate the pose errors, so that the operation is completed.
The using method of the invention comprises the following steps: the wrist assembly 21 with variable rigidity in a large range is installed on the industrial robot, the wrist assembly 21 can be adjusted to different rigidities in real time in a large range on line according to different working procedures in the operation process of the robot, and the rigidity of the wrist assembly 21 is adjusted to a large value in the process that the industrial robot moves to an operation object, so that the deformation and oscillation of the robot in the moving process are avoided, and the precision of the robot for positioning the operation object is increased; in the process of contacting with the operation object, because the robot and the operation object have pose errors, the jamming exists between the robot and the operation object, the rigidity of the wrist assembly 21 is adjusted to be a smaller value to form the flexible wrist assembly 21, and under the action of the jamming, the relative pose between the robot and the operation object is automatically adjusted to compensate the pose errors so as to finish the operation.
According to the invention, the wrist assembly 21 with variable rigidity in a large range can be installed on the industrial robot, the wrist assembly 21 can be adjusted to different rigidities in real time in a large range on line according to different procedures in the operation process of the robot, and in the process that the industrial robot moves to an operation object, the rigidity of the wrist assembly 21 is adjusted to a larger value so as to avoid deformation and oscillation in the moving process of the robot and increase the precision of the robot for positioning the operation object; in the process of contacting with the operation object, because the robot and the operation object have pose errors, the jamming exists between the robot and the operation object, the rigidity of the wrist assembly 21 is adjusted to be a smaller value to form the flexible wrist assembly 21, and under the action of the jamming, the relative pose between the robot and the operation object is automatically adjusted to compensate the pose errors so as to finish the operation.
The above additional technical features can be freely combined and used in superposition by those skilled in the art without conflict.
The above description is only a preferred embodiment of the present invention, and the technical solutions that achieve the objects of the present invention by basically the same means are all within the protection scope of the present invention.
Claims (4)
1. The utility model provides a robot wrist of variable rigidity on a large scale which characterized in that: the variable stiffness driving device comprises a variable stiffness driving device (18) and a wrist assembly (21), wherein a rotating shaft (16) is arranged on the variable stiffness driving device (18), an elastic element (15) is arranged on the rotating shaft (16), mounting rods (17) are arranged on two sides of the elastic element (15), the mounting rods (17) are fixedly arranged on the variable stiffness driving device (18), the wrist assembly (21) comprises a top rod (5), a pulley frame (3), a bottom rod (1) and a connecting rod (2), the bottom rod (1) is arranged between the variable stiffness driving device (18) and the mounting rods (17), a shaft hole through which the rotating shaft (16) penetrates is formed in the bottom rod (1), the bottom rod (1) is fixedly connected with the connecting rod (2), the connecting rod (2) is hinged with the pulley frame (3), pulleys are arranged on the pulley frame (3), the top rod (5) is fixedly connected with the top rod (5), a plane parallel mechanism (20) is arranged on the top rod (5), the plane parallel mechanism (20) comprises an upper platform (10), a lower platform (8) and a branched chain structure (6) and a plurality of groups of upper and lower platforms (8) and a branched chain structure (6) are arranged on the connecting rod (2) and a branched chain structure ) The cable fixing device is characterized in that a gap is formed between the limiting columns (6), a cable column (14) is arranged on the upper platform (10), a traction cable (4) is arranged on the cable column (14), one end of the traction cable (4) is fixed on the cable column (14), and the other end of the traction cable (4) penetrates through the limiting columns (6) and the pulley to be connected with the elastic element (15) respectively.
2. A wide range of varying stiffness robot wrist according to claim 1, wherein: the upper platform (10) and the lower platform (8) are also provided with a limiting assembly, the limiting assembly comprises an upper limiting block (13) and a lower limiting block (12), and the upper limiting block (13) and the lower limiting block (12) are respectively hinged to the upper platform (10) and the lower platform (8).
3. A widely varying stiffness robot wrist according to claim 1, wherein: the branched chain structure comprises an upper connecting plate (9) and a lower connecting plate (7), the upper connecting plate (9) is hinged to the upper platform (10) and the lower connecting plate (7), and the lower connecting plate (7) is hinged to the lower platform (8).
4. A wide range of varying stiffness robot wrist according to claim 1, wherein: an actuator (19) is arranged on the upper platform (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111078245.2A CN113858257B (en) | 2021-09-15 | 2021-09-15 | Robot wrist with large-range variable rigidity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111078245.2A CN113858257B (en) | 2021-09-15 | 2021-09-15 | Robot wrist with large-range variable rigidity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113858257A CN113858257A (en) | 2021-12-31 |
| CN113858257B true CN113858257B (en) | 2023-03-31 |
Family
ID=78995912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111078245.2A Active CN113858257B (en) | 2021-09-15 | 2021-09-15 | Robot wrist with large-range variable rigidity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113858257B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116728034A (en) * | 2023-06-14 | 2023-09-12 | 盐城奥凯明通阀门有限公司 | Automatic flexible assembly equipment and assembly method for variable-rigidity valve ball |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007004379A1 (en) * | 2007-01-29 | 2008-07-31 | Robert Bosch Gmbh | Object displacing and positioning device e.g. delta robot, has connecting bars stabilizing connected ball joints that are made of elastic material and connected together by pre-tensioning element, which is made of rigid material |
| CN109048987A (en) * | 2018-09-21 | 2018-12-21 | 南京理工大学 | A kind of parallel flexible waist mechanism |
| CN111496840A (en) * | 2020-06-11 | 2020-08-07 | 山东大学 | Multi-degree-of-freedom variable-rigidity robot joint based on integral tensioning structure and working method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005536703A (en) * | 2001-07-05 | 2005-12-02 | マイクロデクステラティー・システムズ・インコーポレーテッド | Parallel manipulator |
-
2021
- 2021-09-15 CN CN202111078245.2A patent/CN113858257B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007004379A1 (en) * | 2007-01-29 | 2008-07-31 | Robert Bosch Gmbh | Object displacing and positioning device e.g. delta robot, has connecting bars stabilizing connected ball joints that are made of elastic material and connected together by pre-tensioning element, which is made of rigid material |
| CN109048987A (en) * | 2018-09-21 | 2018-12-21 | 南京理工大学 | A kind of parallel flexible waist mechanism |
| CN111496840A (en) * | 2020-06-11 | 2020-08-07 | 山东大学 | Multi-degree-of-freedom variable-rigidity robot joint based on integral tensioning structure and working method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113858257A (en) | 2021-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113858257B (en) | Robot wrist with large-range variable rigidity | |
| CN108555940B (en) | Crawling robot and pole-climbing structure thereof | |
| CN113192873B (en) | Flexible connection mechanism, micro-motion stage mechanism and semiconductor device | |
| CN103934823A (en) | Six-PTRT type parallel robot with self-calibration function | |
| CN109159914B (en) | Unmanned aerial vehicle debugging platform with inertia compensation function | |
| CN111319028A (en) | Rope traction parallel robot with variable structure and kinematics multi-solution solving method thereof | |
| CN111230852A (en) | Multi-arm manipulator and robot | |
| CN113071721A (en) | Three-dimensional motion gravity compensation system of space manipulator | |
| CN112549006B (en) | Unhooking mechanical arm system | |
| CN101925504B (en) | Jig for positioning motor vehicle front end bodywork elements | |
| CN113276102B (en) | Mechanical arm with seven degrees of freedom | |
| CN110842977A (en) | Large-range variable-rigidity wrist for assembling and clamping | |
| CN109202937B (en) | Modular multi-joint line control robot | |
| CN112692559A (en) | Screw twisting device | |
| CN212704126U (en) | Desktop formula silk material crib crimper | |
| CN112809736B (en) | Screw drive type universal ball joint | |
| CN219043882U (en) | Pose adjusting mechanism suitable for electric clamping jaw | |
| CN220675292U (en) | Sole bending resistance test device | |
| CN217006734U (en) | Test device of V-arrangement reaction pole | |
| CN216328317U (en) | Triaxial mechanical arm device | |
| CN115768020B (en) | Four-bar guiding wiring module and wiring system | |
| CN219121626U (en) | Error compensation mechanism for screw pair | |
| CN220762685U (en) | Line-driven flexible manipulator | |
| CN221092642U (en) | Transfer device | |
| CN220241477U (en) | Guiding device, lifting device and robot |
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 |