CN214213865U - Square modular force position double closed loop control super-redundant rope driving robot - Google Patents
Square modular force position double closed loop control super-redundant rope driving robot Download PDFInfo
- Publication number
- CN214213865U CN214213865U CN202023268553.5U CN202023268553U CN214213865U CN 214213865 U CN214213865 U CN 214213865U CN 202023268553 U CN202023268553 U CN 202023268553U CN 214213865 U CN214213865 U CN 214213865U
- Authority
- CN
- China
- Prior art keywords
- wire rope
- driving
- steel wire
- lead screw
- pulley
- 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.)
- Withdrawn - After Issue
Links
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 91
- 239000010959 steel Substances 0.000 claims abstract description 91
- 230000000712 assembly Effects 0.000 claims abstract description 14
- 238000000429 assembly Methods 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 52
- 238000004804 winding Methods 0.000 claims description 46
- 239000003638 chemical reducing agent Substances 0.000 claims description 37
- 238000007667 floating Methods 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to the technical field of the arm, in particular to super redundant rope drive robot of two closed-loop control of square modularization power position. The rope driving device comprises a mechanical arm, a rope driving assembly, a driving module and a box body, wherein the box body is of a square structure, the driving module is arranged in the box body, the mechanical arm is arranged on the outer side of the box body, and each joint of the mechanical arm is connected with the driving module through the rope driving assembly. The mechanical arm comprises a fixed section and a flexible section connected with the fixed section, the fixed section is connected with the box body, and the flexible section comprises a plurality of connecting cylinders which are sequentially hinged through Hooke joints; each group of rope driving assemblies comprises three steel wire rope assemblies, one ends of the three steel wire rope assemblies are connected with a hook hinge, and the other ends of the three steel wire rope assemblies are connected with the driving module. The utility model discloses an arm and drive arrangement contain the modularization, have different drive coefficients, can realize reasonable drive ratio and match, can improve the functioning speed of arm under the prerequisite that does not influence arm load capacity.
Description
Technical Field
The utility model belongs to the technical field of the arm, in particular to super redundant rope drive robot of two closed-loop control of square modularization power position.
Background
The traditional mechanical arm joint is mainly driven at the joint by adopting mechanisms such as a motor, the mechanical arm load is increased though the mechanism is simple, the structure is not compact, and the operation requirement of a narrow space or a severe environment cannot be met. At present, although a continuum mechanical arm appears and adopts a flexible structural body to realize arc-like deformation movement, the load capacity is weak and the movement precision of the tail end is not high enough. Therefore, the existing super-redundant rope-driven robot generally has the problems of poor load capacity, low movement speed, low control precision, inconvenience in mounting and dismounting and the like.
SUMMERY OF THE UTILITY MODEL
In view of the above problem, an object of the utility model is to provide a super redundant rope drive robot of two closed-loop control of square modularization power position to there is load capacity poor in solving current continuum arm, and the velocity of motion is low, and control accuracy is low, and the inconvenient scheduling problem of installation dismantlement.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a super redundant rope drive robot of two closed-loop control of square modularization power position, includes that arm, rope drive subassembly, drive module and box, wherein the box is square structure, drive module sets up in the box, the arm set up in the outside of box, each joint of arm respectively through a set of rope drive the subassembly with drive module connects.
The mechanical arm comprises a fixed section and a flexible section connected with the fixed section, the fixed section is connected with the box body, and the flexible section comprises a plurality of connecting cylinders which are sequentially hinged through a Hooke hinge;
each group of rope driving assemblies comprises three steel wire rope assemblies, one ends of the three steel wire rope assemblies are connected with the hook hinges, and the other ends of the three steel wire rope assemblies are connected with the driving module.
The fixed section comprises a steel wire rope guide block a, a steel wire rope guide block b and a front mechanical arm fixing plate, wherein the steel wire rope guide block a and the steel wire rope guide block b are connected to two ends of the front mechanical arm fixing plate, the diameter of the steel wire rope guide block a is smaller than that of the steel wire rope guide block b, and a plurality of steel wire rope guide holes are formed in the steel wire rope guide block a and the steel wire rope guide block b in the circumferential direction.
The steel wire rope assembly comprises a steel wire rope guide pipe, a guide pipe fixing seat and a steel wire rope, wherein two ends of the steel wire rope guide pipe are respectively connected with the driving module and a steel wire rope guide hole in the steel wire rope guide block b through the guide pipe fixing seat, the steel wire rope penetrates through the steel wire rope guide pipe, and two ends of the steel wire rope are respectively connected with the driving module and the hook hinge.
The driving module comprises a plurality of lead screw driving mechanisms which are arranged in parallel, and each lead screw driving mechanism is respectively connected with one steel wire rope assembly;
the lead screw driving mechanism comprises a bottom plate, a lead screw, a guide rail sliding block, a steel wire rope fixing seat, a floating supporting mechanism and a lead screw driving module, wherein the bottom plate is connected with the box body, and the guide rail sliding block and the lead screw are arranged on the bottom plate in parallel; one end of the steel wire rope fixing seat is connected with the guide rail sliding block, the other end of the steel wire rope fixing seat is in threaded connection with the lead screw, and the steel wire rope fixing seat is used for fixing the steel wire rope assembly;
the floating support mechanism and the lead screw driving module are arranged at the rear end of the bottom plate, the floating support mechanism is used for supporting the lead screw, and the lead screw driving module is connected with the lead screw and used for driving the lead screw to rotate.
The floating support mechanism comprises a sliding block guide optical axis, a lead screw bearing, a single-pressure type sensor and a bearing fixing seat, wherein the sliding block guide optical axis is arranged on the bottom plate and is parallel to the lead screw; the screw bearing is arranged in the bearing fixing seat and used for supporting the screw.
The screw rod driving module comprises a speed reducer and a motor, wherein the speed reducer is arranged on the bottom plate, and the input end of the speed reducer is connected with the motor; an output shaft of the speed reducer is connected with the lead screw through a coupler; and the motor is provided with an encoder and a band-type brake.
The driving module comprises a plurality of winding drum type driving mechanisms which are arranged in parallel, the winding drum type driving mechanisms are arranged along the direction vertical to the steel wire rope assembly, and each winding drum type driving mechanism is respectively connected with one steel wire rope assembly;
the winding drum type driving mechanism comprises a winding drum lead screw, a steel wire rope winding drum, a rotary torque sensor, a winding drum speed reducer and a winding drum motor, wherein the winding drum lead screw is rotatably arranged on the box body, the steel wire rope winding drum is arranged on the winding drum lead screw, and the steel wire rope winding drum is used for winding the steel wire rope assembly; the winding drum lead screw is connected with the winding drum speed reducer and the winding drum motor; and a winding drum motor encoder and a winding drum motor internal contracting brake are arranged on the winding drum motor.
The driving module comprises a plurality of belt wheel type driving mechanisms which are arranged in parallel, and each belt wheel type driving mechanism is respectively connected with one steel wire rope component;
the belt wheel type driving mechanism comprises a driving unit bottom plate, a driving unit guide rail, a driven belt wheel set, a sliding block connecting plate, a movable belt wheel set, a driving belt wheel set, a gear set, a worm gear speed reducer, a rotary torque sensor, a belt wheel type driving motor, a synchronous belt and a planetary gear speed reducer, wherein the driving unit guide rail is arranged on the driving unit bottom plate, and the driven belt wheel set and the driving belt wheel set are respectively arranged at two ends of the driving unit bottom plate;
the sliding block connecting plate is connected with the driving unit guide rail in a sliding mode, and the movable belt pulley group is connected with the sliding block connecting plate;
the synchronous belt is wound on the driving belt pulley group, the driven belt pulley group and the movable belt pulley group;
the worm gear speed reducer, the rotary torque sensor, the planetary gear speed reducer and the belt wheel type driving motor are sequentially connected, and the worm gear speed reducer is connected with the driving belt wheel set through a gear set; and a belt wheel type driving motor encoder and a belt wheel type driving motor band-type brake are arranged on the belt wheel type driving motor.
The driving belt pulley set comprises a driving belt pulley I and a driving belt pulley II which are coaxially arranged, and the diameter of the driving belt pulley I is smaller than that of the driving belt pulley II;
the driven belt pulley set comprises a driven belt pulley I and a driven belt pulley II which are coaxially arranged;
the movable belt pulley set comprises a movable belt pulley mounting plate, a movable belt pulley I and a movable belt pulley II, wherein the movable belt pulley I and the movable belt pulley II are mounted on the movable belt pulley mounting plate;
the synchronous belt is sequentially wound on the driving belt wheel I, the driven belt wheel I, the movable belt wheel I, the driven belt wheel II, the driving belt wheel II and the movable belt wheel II.
The utility model has the advantages and beneficial effects that:
the utility model provides a pair of super redundant rope driving robot of two closed-loop control of square modularization power position because the arm has reducing structure, under the same performance parameter, has reduced the arm and has been close to the external diameter of terminal part, has improved the dexterity of arm.
The utility model discloses the drive unit of different numbers has different drive coefficients, can realize reasonable drive ratio matching, can improve the functioning speed of arm under the prerequisite that does not influence arm load capacity.
The utility model discloses direct among the drive unit or indirect rope tension measuring device can cooperate control system to realize the two closed-loop control of power position, and traditional unit that compares puts the control mode, can effectively compensate the motion precision of the weak rigid construction of arm transmission system.
The utility model discloses an arm and drive arrangement contain the modularization, can realize swiftly installing and maintaining.
Drawings
Fig. 1 is a schematic structural view of a square modular force-position double-closed-loop controlled super-redundant rope-driven robot according to a first embodiment of the present invention;
fig. 2 is a schematic structural view of a robot arm according to a first embodiment of the present invention;
FIG. 3 is an enlarged view taken at point I in FIG. 2;
FIG. 4 is an enlarged view taken at II in FIG. 2;
fig. 5 is a schematic structural view of a wire rope assembly according to a first embodiment of the present invention;
fig. 6 is a schematic structural diagram of a screw driving module according to a first embodiment of the present invention;
fig. 7 is a schematic structural view of a screw driving mechanism according to a first embodiment of the present invention;
FIG. 8 is an enlarged partial schematic view of FIG. 7;
fig. 9 is a schematic structural view of a reel type driving module according to a second embodiment of the present invention;
fig. 10 is a partial structural view of a reel driving module according to a second embodiment of the present invention;
fig. 11 is a schematic structural view of a reel drive mechanism according to a second embodiment of the present invention;
fig. 12 is a schematic structural view of a belt pulley type driving module according to a third embodiment of the present invention;
fig. 13 is a schematic structural view of a belt pulley type driving mechanism according to a third embodiment of the present invention;
fig. 14 is a schematic view of a belt pulley type driving mechanism according to a third embodiment of the present invention.
In the figure: 11 is a mechanical arm, 111 is a hooke joint, 112 is a connecting cylinder, 113 is a wire rope guide block a, 114 is a wire rope guide block b, 115 is a front fixing plate of the mechanical arm, 116 is a wire rope component, 1161 is a front wire rope fixing head, 1162 is a wire rope guide pipe, 1163 is a guide pipe fixing seat, 1164 is a wire rope, 1165 is a rear wire rope fixing head, 12 is a driving module, 13 is a box body, 131 is a mechanical arm mounting plate, 132 is a fixing frame, 133 is a driving unit fixing plate, 134 is a fixing frame connecting plate, 31 is a lead screw driving mechanism, 311 is a bottom plate, 312 is a lead screw, 313 is a guide rail sliding block, 314 is a wire rope fixing seat, 315 is a lead screw driving module, 316 is a sliding block guide optical axis, 317 is a lead screw bearing, 318 is a bearing fixing plate, 319 is a locking nut, 3110 is a coupler, 3111 is a speed reducer, 3112 is a motor, 3113 is a band-type brake, 3114 is a band-type brake, 3115 is a single-pressing type sensor, 3116 is a bearing fixing seat, 41 is a reel type driving mechanism, 4101 is a reel lead screw, 4102 is a wire rope reel, 4104 is a rotary torque sensor, 4105 is a reel coupler, 4106 is a reel speed reducer, 4107 is a reel motor, 4108 is a reel motor encoder, 4109 is a reel motor internal contracting brake, 51 is a belt wheel type driving mechanism, 5101 is a driving unit bottom plate, 5102 is a driving unit guide rail, 5103 is a driven pulley set, 51031 is a driven pulley i, 51032 is a driven pulley ii, 5104 is a slider connecting plate, 5105 is a movable pulley set, 51051 is a movable pulley i, 51052 is a movable pulley ii, 51053 is a movable pulley mounting plate, 5106 is a driving pulley set, 51061 is a driving pulley i, 51062 is a driving pulley ii, 5107 is a gear set, 5108 is a worm gear reducer, 5109 is a torque sensor, 5110 is a belt wheel type driving motor, 5111 is a belt wheel type driving motor, 5112 is a band-type brake of a belt wheel type driving motor, 5113 is a synchronous belt, and 5114 is a planetary gear reducer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Example one
As shown in fig. 1, the utility model provides a pair of super redundant rope drive robot of two closed-loop control of square modularization power position, drive subassembly, drive module 12 and box 13 including arm 11, rope, wherein box 13 is square structure, and drive module 12 sets up in box 13, and arm 11 sets up in the outside of box 13, and each joint of arm 11 drives the subassembly through a set of rope respectively and is connected with drive module 12.
As shown in fig. 2-4, the mechanical arm 11 includes a fixed section and a flexible section connected to the fixed section, the fixed section is connected to the box 13, and the flexible section includes a plurality of connecting cylinders 112 sequentially hinged by a hooke joint 111; each group of rope drive components comprises three steel wire rope components 116, one end of each steel wire rope component 116 is connected with one hook joint 111, and the other end of each steel wire rope component 116 is connected with the drive module 12.
As shown in fig. 4, in the embodiment of the present invention, the fixing section includes a wire rope guide block a113, a wire rope guide block b114 and a front arm fixing plate 115, wherein the wire rope guide block a113 and the wire rope guide block b114 are connected at two ends of the front arm fixing plate 115, and the diameter of the wire rope guide block a113 is smaller than that of the wire rope guide block b114, and a plurality of wire rope guide holes are all provided along the circumferential direction on the wire rope guide block a113 and the wire rope guide block b 114.
As shown in fig. 5, in the embodiment of the present invention, the steel wire rope assembly 116 includes a steel wire rope guide tube 1162, a guide tube fixing seat 1163 and a steel wire rope 1164, wherein two ends of the steel wire rope guide tube 1162 are respectively connected to the steel wire rope guide holes on the driving module 12 and the steel wire rope guide block b114 through the guide tube fixing seat 1163, and the steel wire rope 1164 passes through the steel wire rope guide tube 1162 and two ends of the steel wire rope guide tube 116are respectively connected to the driving module 12 and the hooke hinge 111.
In this embodiment, the robot arm 11 has a plurality of serial hooke joints, each hooke joint is a two-degree-of-freedom composite joint, and belongs to a mature general technology, wherein the posture of each hooke joint 111 is controlled by three wire ropes 1164, a transition device is arranged at the first section of the robot arm, the distribution radius of the wire ropes is increased through a wire rope guide block a113 and a wire rope guide block b114, the whole of the movable part of the robot arm is fixed on a front fixing plate 115 of the robot arm, the part behind the front fixing plate 115 of the robot arm is used for being in butt joint with a driving module 12, and the part in this embodiment includes thirty-six sets of wire rope assemblies 116. Two ends of a steel wire rope 1164 in each set of steel wire rope assembly 116 are connected with a front steel wire rope fixing head 1161 and a rear steel wire rope fixing head 1165, the front steel wire rope fixing head 1161 is connected with the hook joint 111, and the rear steel wire rope fixing head 1165 is connected with a movable part of the driving module 12. The cable guide 1162 is a flexible guide tube with a spiral steel structure, and has a guiding function similar to a brake cable, two ends of the cable guide 1162 are respectively provided with a guide tube fixing seat 1163, one guide tube fixing seat 1163 is connected to a threaded hole of the cable guide block b114 through threads, and the other guide tube fixing seat 1163 is connected to a bottom plate of the driving module 12 through threads. When drive module 12 is in operation, wireline 1164 slides within wireline guide 1162.
The driving module 12 can be used for driving the wire rope 1164 in various forms, such as a screw driving module, a reel driving module, a belt wheel driving module, and the like.
Example one
As shown in fig. 6, in the embodiment of the present invention, the box 13 includes a mechanical arm mounting plate 131, a fixing frame 132, a driving unit fixing plate 133 and a fixing frame connecting plate 134, wherein the mechanical arm mounting plate 131 and the driving unit fixing plate 133 are respectively disposed at the front and rear ends of the fixing frame 132, and the fixing frame connecting plate 134 is disposed at the side portion of the fixing frame 132.
In the embodiment of the present invention, the driving module 12 includes a plurality of parallel lead screw driving mechanisms 31, and each lead screw driving mechanism 31 is connected to a steel wire rope assembly 116 respectively.
As shown in fig. 7, in the embodiment of the present invention, the lead screw driving mechanism 31 includes a bottom plate 311, a lead screw 312, a guide rail slider 313, a steel wire rope fixing seat 314, a floating supporting mechanism and a lead screw driving module 315, wherein the bottom plate 311 is connected with the box body 13, and the guide rail slider 313 and the lead screw 312 are arranged on the bottom plate 311 in parallel; one end of the steel wire rope fixing seat 314 is connected with the guide rail sliding block 313, the other end of the steel wire rope fixing seat 314 is in threaded connection with the lead screw 312, and the steel wire rope fixing seat 314 is used for fixing the steel wire rope component 116; the floating support mechanism and the lead screw driving module 315 are disposed at the rear end of the bottom plate 311, the floating support mechanism is used for supporting the lead screw 312, and the lead screw driving module 315 is connected with the lead screw 312 and is used for driving the lead screw 312 to rotate.
As shown in fig. 8, in the embodiment of the present invention, the floating support mechanism includes a slider guide optical axis 316, a lead screw bearing 317, a single-pressure sensor 3115 and a bearing fixing seat 3116, wherein the slider guide optical axis 316 is disposed on the bottom plate 311 and parallel to the lead screw 312, the bearing fixing seat 3116 is slidably connected to the slider guide optical axis 316, and the single-pressure sensor 3115 is connected between the bearing fixing seat 3116 and the bottom plate 311; the screw bearing 317 is disposed in the bearing holder 3116 and is used for supporting the screw 312. The bearing holder 3116 can slide on the slider guide optical axis 316 in a small range, and can compensate for a slight amount of axial displacement of the bearing holder 3116. The screw driving module 315 includes a speed reducer 3111 and a motor 3112, the speed reducer 3111 is disposed on the bottom plate 311, and an input end of the speed reducer 3112 is connected to the motor 3112; an output shaft of the speed reducer 3111 is connected with the lead screw 312 through a coupler 3110; the motor 3112 is provided with an encoder 3113 and a band brake 3114. The motor 3112 drives the lead screw 312 to rotate, so that the steel wire rope fixing seat 314 slides along the guide rail sliding block 313, and the steel wire rope assembly 116 is further pulled.
Example two
As shown in fig. 9-10, in the embodiment of the present invention, the driving module 12 includes a plurality of reel driving mechanisms 41 disposed in parallel, the reel driving mechanisms 41 are disposed along a direction perpendicular to the wire rope assembly 116, and each reel driving mechanism 41 is connected to a wire rope assembly 116. The number of spool drives 41 is determined by the number of specific cable assemblies 116, and in this embodiment, there are two sets of symmetrically disposed drive modules 12.
As shown in fig. 11, in the embodiment of the present invention, the winding drum type driving mechanism 41 includes a winding drum lead screw 4101, a wire rope winding drum 4102, a rotary torque sensor 4104, a winding drum speed reducer 4106 and a winding drum motor 4107, wherein the winding drum lead screw 4101 is rotatably mounted on the box body 13, the wire rope winding drum 4102 is disposed on the winding drum lead screw 4101, and the wire rope winding drum 4102 is used for winding the wire rope assembly 116; the drum lead screw 4101 is connected with a drum speed reducer 4106 and a drum motor 4107; the drum motor 4107 is provided with a drum motor encoder 4108 and a drum motor brake 4109. The drum motor 4107 drives the drum lead screw 4101 to rotate, and the drum lead screw 4101 drives the wire rope drum 4102 to rotate, thereby realizing the winding and releasing of the wire rope component 116.
EXAMPLE III
As shown in fig. 12, in the embodiment of the present invention, the driving module 12 includes a plurality of pulley-type driving mechanisms 51 arranged in parallel, and each pulley-type driving mechanism 51 is connected to a cable assembly 116.
As shown in fig. 13, the belt wheel type driving mechanism 51 includes a driving unit bottom plate 5101, a driving unit guide rail 5102, a driven pulley group 5103, a slider connecting plate 5104, a movable pulley group 5105, a driving pulley group 5106, a gear group 5107, a worm gear reducer 5108, a rotary torque sensor 5109, a belt wheel type driving motor 5110, a synchronous belt 5113 and a planetary gear reducer 5114, wherein the driving unit guide rail 5102 is disposed on the driving unit bottom plate 5101, and the driven pulley group 5103 and the driving pulley group 5106 are respectively disposed at two ends of the driving unit bottom plate 5101; the slider connecting plate 5104 is connected with the drive unit guide rail 5102 in a sliding manner, and the movable pulley group 5105 is connected with the slider connecting plate 5104; the slider connecting plate 5104 is connected to the wire rope assembly 116. The synchronous belt 5113 is wound on the driving pulley group 5106, the driven pulley group 5103 and the movable pulley group 5105; the worm gear reducer 5108, the rotary torque sensor 5109, the planetary gear reducer 5114 and the belt wheel type driving motor 5110 are sequentially connected, and the worm gear reducer 5108 is connected with a driving belt wheel set 5106 through a gear set 5107; the belt wheel type driving motor 5110 is provided with a belt wheel type driving motor encoder 5111 and a belt wheel type driving motor internal contracting brake 5112.
As shown in fig. 14, in the embodiment of the present invention, the driving pulley set 5106 includes a driving pulley i 51061 and a driving pulley ii 51062 which are coaxially installed, and the diameter of the driving pulley i 51061 is smaller than that of the driving pulley ii 51062; the driven pulley set 5103 comprises a driven pulley I51031 and a driven pulley II 51032 which are coaxially arranged; the movable pulley set 5105 comprises a movable pulley mounting plate 51053, a movable pulley I51051 and a movable pulley II 51052 which are mounted on the movable pulley mounting plate 51053, and the movable pulley mounting plate 51053 is connected with a slider connecting plate 5104; the synchronous belt 5113 is sequentially wound on a driving pulley I51061, a driven pulley I51031, a movable pulley I51051, a driven pulley II 51032, a driving pulley II 51062 and a movable pulley II 51052.
The belt wheel type driving motor 5110 drives the driving pulley I51061 and the driving pulley II 51062 in the driving pulley group 5106 to rotate through the gear group 5107, and the driving pulley I51061 and the driving pulley II 51062 have a diameter difference, so that the synchronous belt 5113 is driven to rotate, the movable belt wheel group 5105 and the slider connecting plate 5104 are driven to slide along the driving unit guide rail 5102, and the traction of the steel wire rope assembly 116 is further realized.
The embodiment of the utility model provides an in, arm 11 is the movable main part that the robot directly undertakes the operation task, and it has series connection articulated connecting rod structure, and contains the parallelly connected wire rope mechanism that is used for controlling the joint rotation. The driving device is a part for providing power for the mechanical arm part, a plurality of groups of driving units with similar structures are contained in the driving device, and each driving unit drives one steel wire rope respectively.
The utility model provides a pair of two closed-loop control's of modularization power position super redundant rope drive robot because the arm has reducing structure, under the same performance parameter, has reduced the outside diameter that the arm is close to terminal part, has improved the dexterity of arm. The utility model discloses direct among the drive unit or indirect rope tension measuring device can cooperate control system to realize the two closed-loop control of power position, and traditional unit that compares puts the control mode, can effectively compensate the motion precision of the weak rigid construction of arm transmission system. The utility model discloses an arm and drive arrangement contain the modularization, can realize swiftly installing and maintaining.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a super redundant rope drive robot of two closed-loop control of square modularization power position, its characterized in that, drives subassembly, drive module (12) and box (13) including arm (11), rope, wherein box (13) are square structure, drive module (12) set up in box (13), arm (11) set up in the outside of box (13), each joint of arm (11) drive the subassembly through a set of rope respectively with drive module (12) are connected.
2. The square modular force-position double-closed-loop controlled super-redundant rope-driven robot as claimed in claim 1, wherein the mechanical arm (11) comprises a fixed section and a flexible section connected with the fixed section, the fixed section is connected with the box body (13), and the flexible section comprises a plurality of connecting cylinders (112) which are sequentially hinged through Hooke joints (111);
each group of rope driving assemblies comprises three steel wire rope assemblies (116), one ends of the three steel wire rope assemblies (116) are connected with one Hooke joint (111), and the other ends of the three steel wire rope assemblies are connected with the driving module (12).
3. The square modular force position double-closed-loop control super-redundant rope-driven robot according to claim 2, wherein the fixed section comprises a steel wire rope guide block a (113), a steel wire rope guide block b (114) and a front arm fixing plate (115), the steel wire rope guide block a (113) and the steel wire rope guide block b (114) are connected to two ends of the front arm fixing plate (115), the diameter of the steel wire rope guide block a (113) is smaller than that of the steel wire rope guide block b (114), and a plurality of steel wire rope guide holes are formed in the steel wire rope guide block a (113) and the steel wire rope guide block b (114) in the circumferential direction.
4. The square modular force position double-closed-loop-controlled super-redundant rope-driven robot as claimed in claim 3, wherein the wire rope assembly (116) comprises a wire rope guide tube (1162), a guide tube fixing seat (1163) and a wire rope (1164), wherein two ends of the wire rope guide tube (1162) are respectively connected with the driving module (12) and a wire rope guide hole in the wire rope guide block b (114) through the guide tube fixing seat (1163), the wire rope (1164) penetrates through the wire rope guide tube (1162), and two ends of the wire rope (1164) are respectively connected with the driving module (12) and the hooke joint (111).
5. The square modular force position double closed loop controlled super-redundant rope-driven robot according to claim 2, wherein the driving module (12) comprises a plurality of lead screw driving mechanisms (31) arranged in parallel, and each lead screw driving mechanism (31) is respectively connected with one steel wire rope assembly (116);
the lead screw driving mechanism (31) comprises a bottom plate (311), a lead screw (312), a guide rail sliding block (313), a steel wire rope fixing seat (314), a floating supporting mechanism and a lead screw driving module (315), wherein the bottom plate (311) is connected with the box body (13), and the guide rail sliding block (313) and the lead screw (312) are arranged on the bottom plate (311) in parallel; one end of the steel wire rope fixing seat (314) is connected with the guide rail sliding block (313), the other end of the steel wire rope fixing seat is in threaded connection with the lead screw (312), and the steel wire rope fixing seat (314) is used for fixing the steel wire rope component (116);
the floating support mechanism and the lead screw driving module (315) are arranged at the rear end of the bottom plate (311), the floating support mechanism is used for supporting the lead screw (312), and the lead screw driving module (315) is connected with the lead screw (312) and used for driving the lead screw (312) to rotate.
6. The square modular force position double closed loop controlled super-redundant rope-driven robot according to claim 5, wherein the floating support mechanism comprises a slider guide optical axis (316), a lead screw bearing (317), a single-pressure type sensor (3115) and a bearing fixing seat (3116), wherein the slider guide optical axis (316) is arranged on the base plate (311) and is parallel to the lead screw (312), the bearing fixing seat (3116) is slidably connected with the slider guide optical axis (316), and the single-pressure type sensor (3115) is connected between the bearing fixing seat (3116) and the base plate (311); the lead screw bearing (317) is arranged in the bearing fixing seat (3116) and used for supporting the lead screw (312).
7. The square modular force-position double-closed-loop controlled super-redundant rope-driven robot according to claim 5, wherein the lead screw driving module (315) comprises a speed reducer (3111) and a motor (3112), the speed reducer (3111) is arranged on the bottom plate (311) and the input end of the speed reducer is connected with the motor (3112); an output shaft of the speed reducer (3111) is connected with the lead screw (312) through a coupler (3110); the motor (3112) is provided with an encoder (3113) and a band-type brake (3114).
8. The square modular force position double closed loop controlled super-redundant rope driven robot according to claim 2, wherein the driving module (12) comprises a plurality of reel type driving mechanisms (41) arranged in parallel, the reel type driving mechanisms (41) are arranged along a direction perpendicular to the steel wire rope assembly (116), and each reel type driving mechanism (41) is respectively connected with one steel wire rope assembly (116);
the winding drum type driving mechanism (41) comprises a winding drum lead screw (4101), a steel wire rope winding drum (4102), a rotary torque sensor (4104), a winding drum speed reducer (4106) and a winding drum motor (4107), wherein the winding drum lead screw (4101) is rotatably installed on the box body (13), the steel wire rope winding drum (4102) is arranged on the winding drum lead screw (4101), and the steel wire rope winding drum (4102) is used for winding the steel wire rope component (116); the winding drum lead screw (4101) is connected with the winding drum speed reducer (4106) and the winding drum motor (4107); and a winding drum motor encoder (4108) and a winding drum motor internal contracting brake (4109) are arranged on the winding drum motor (4107).
9. The square modular force position double closed loop controlled super-redundant rope driven robot according to claim 2, wherein the driving module (12) comprises a plurality of parallel belt wheel type driving mechanisms (51), and each belt wheel type driving mechanism (51) is respectively connected with one steel wire rope assembly (116);
the belt wheel type driving mechanism (51) comprises a driving unit bottom plate (5101), a driving unit guide rail (5102), a driven belt wheel group (5103), a slider connecting plate (5104), a movable belt wheel group (5105), a driving belt wheel group (5106), a gear group (5107), a worm and gear speed reducer (5108), a rotary torque sensor (5109), a belt wheel type driving motor (5110), a synchronous belt (5113) and a planetary gear speed reducer (5114), wherein the driving unit guide rail (5102) is arranged on the driving unit bottom plate (5101), and the driven belt wheel group (5103) and the driving belt wheel group (5106) are respectively arranged at two ends of the driving unit bottom plate (5101);
the slider connecting plate (5104) is in sliding connection with the driving unit guide rail (5102), and the movable pulley group (5105) is connected with the slider connecting plate (5104);
the synchronous belt (5113) is wound on the driving belt wheel set (5106), the driven belt wheel set (5103) and the movable belt wheel set (5105);
the worm and gear speed reducer (5108), the rotary torque sensor (5109), the planetary gear speed reducer (5114) and the belt wheel type driving motor (5110) are sequentially connected, and the worm and gear speed reducer (5108) is connected with the driving belt wheel set (5106) through a gear set (5107); the belt wheel type driving motor (5110) is provided with a belt wheel type driving motor encoder (5111) and a belt wheel type driving motor internal contracting brake (5112).
10. The square modular force position double closed loop controlled super redundant rope driven robot of claim 9, wherein the driving pulley set (5106) comprises a driving pulley i (51061) and a driving pulley ii (51062) which are coaxially mounted, and the diameter of the driving pulley i (51061) is smaller than that of the driving pulley ii (51062);
the driven pulley set (5103) comprises a driven pulley I (51031) and a driven pulley II (51032) which are coaxially arranged;
the movable belt pulley set (5105) comprises a movable belt pulley mounting plate (51053), a movable belt pulley I (51051) and a movable belt pulley II (51052) which are mounted on the movable belt pulley mounting plate (51053), and the movable belt pulley mounting plate (51053) is connected with the slider connecting plate (5104);
the synchronous belt (5113) is sequentially wound on a driving pulley I (51061), a driven pulley I (51031), a movable pulley I (51051), a driven pulley II (51032), a driving pulley II (51062) and a movable pulley II (51052).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023268553.5U CN214213865U (en) | 2020-12-30 | 2020-12-30 | Square modular force position double closed loop control super-redundant rope driving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023268553.5U CN214213865U (en) | 2020-12-30 | 2020-12-30 | Square modular force position double closed loop control super-redundant rope driving robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214213865U true CN214213865U (en) | 2021-09-17 |
Family
ID=77706979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023268553.5U Withdrawn - After Issue CN214213865U (en) | 2020-12-30 | 2020-12-30 | Square modular force position double closed loop control super-redundant rope driving robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214213865U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720561A (en) * | 2020-12-30 | 2021-04-30 | 沈阳新松机器人自动化股份有限公司 | Square modular force position double-closed-loop control super-redundant rope driving robot |
-
2020
- 2020-12-30 CN CN202023268553.5U patent/CN214213865U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720561A (en) * | 2020-12-30 | 2021-04-30 | 沈阳新松机器人自动化股份有限公司 | Square modular force position double-closed-loop control super-redundant rope driving robot |
| CN112720561B (en) * | 2020-12-30 | 2024-03-12 | 沈阳新松机器人自动化股份有限公司 | Super-redundancy rope-driven robot with square modularized force-position double closed-loop control |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106946097B (en) | Cable pull self-regulation capstan winch and its control method | |
| CN112706155B (en) | Modularized force-position double-closed-loop control super-redundancy rope-driven robot | |
| CN106986277B (en) | A kind of Wire driven robot device and method with rope arranging automatically and force measuring function | |
| CN112720561B (en) | Super-redundancy rope-driven robot with square modularized force-position double closed-loop control | |
| CN104029216B (en) | There is the flexible driving unit for robot joint of tension force and joint position feedback | |
| CN214213865U (en) | Square modular force position double closed loop control super-redundant rope driving robot | |
| CN114393566A (en) | Lightweight high-speed four-degree-of-freedom cable-driven parallel robot | |
| CN112454345B (en) | Rope-driven joint module | |
| CN108237522A (en) | A kind of wire drive and mechanical arm | |
| CN214238238U (en) | Modular force position double-closed-loop control super-redundancy rope-driven robot | |
| CN210193097U (en) | Flexible cable transmission precision module | |
| CN212475574U (en) | Cable collecting device capable of automatically arranging wires | |
| CN113172618B (en) | Modularized seven-degree-of-freedom rope-driven humanoid arm | |
| CN116081404A (en) | Automatic cable winding and unwinding wheel device of pipeline robot | |
| CN1256263C (en) | Self winding type umbilical cable winding and releasing device without slide ring | |
| CN212450401U (en) | Flexible cable force control servo winding drum | |
| CN111453532A (en) | Cable collecting device capable of automatically arranging wires | |
| CN110912507B (en) | Swing arm compensation type driving rope compensation tensioning mechanism and design method thereof | |
| CN109629124B (en) | Sewing machine and sewing machine needle distance adjusting and limiting device | |
| CN209506753U (en) | A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system | |
| CN208764559U (en) | A kind of pipe robot independently turned | |
| CN117984348B (en) | Cable-driven soft mechanical arm | |
| CN110274723B (en) | Flexible cable driving device with anti-winding and high-precision force measuring functions | |
| CN111824995A (en) | Flexible cable force control servo winding drum | |
| CN106429919B (en) | A kind of transmission mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20210917 Effective date of abandoning: 20240312 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20210917 Effective date of abandoning: 20240312 |