CN109955286A - Rope drives flexible robot's experiment porch - Google Patents
Rope drives flexible robot's experiment porch Download PDFInfo
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- CN109955286A CN109955286A CN201910344482.5A CN201910344482A CN109955286A CN 109955286 A CN109955286 A CN 109955286A CN 201910344482 A CN201910344482 A CN 201910344482A CN 109955286 A CN109955286 A CN 109955286A
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- arm section
- rope
- arm
- experiment porch
- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of ropes to drive flexible robot's experiment porch, belongs to robotic technology field.It includes flexible arm module that rope of the invention, which drives flexible robot's experiment porch, flexible arm module includes the first arm section, the second arm section, third arm section and the driving rope across the first arm section, the second arm section and third arm section, is connected between the first arm section and the second arm section, between the second arm section and third arm section by joint；Drive module, drive module include actuator, screw rod, feed screw nut, and actuator can drive screw rod to rotate, and feed screw nut connect with screw rod, and the rotation of screw rod is able to drive feed screw nut and moves along the axis direction of screw rod, and one end of rope is driven to connect with feed screw nut；Angle measuring unit, angle measuring unit are connect with joint；Tension measurement unit, tension measurement unit are connect with driving rope.Rope of the invention drives the actual condition that flexible robot's experiment porch is capable of dummy robot, the kinematic parameter of robot measurement.
Description
Technical field
The present invention relates to robotic technology fields, drive flexible robot's experiment porch more particularly, to a kind of rope.
Background technique
Currently, a large amount of high efficiency robots obtain more wide answer in manufacture fields such as electrical, chemical industry, machinery
With, but rope drives flexible robot due to the flexible deformation of rope and many friction effects etc., precision is always
It is not high, influence range and using effect that it is used.
The principal element that the precision of rope driving flexible robot is difficult to improve is: realistic model and theoretical model
Between have certain error.If rope is when passing through circular hole, in order to which the error for allowing it to move reaches minimum, the size of circular hole is answered
When small as far as possible, however, it is contemplated that the factor of frictional force, Circularhole diameter is also inherently bigger than rope diameter, causes reality
When across circular hole, rope will influence the spatial position of rope close to the side of circular hole, further influence its actual length
Degree；For another example between two disks of joint, when direction change occurs at via hole for rope, the mistake of a circular arc is generally required
Section is crossed, then arrives straightway, when the length of rope is calculated by straightway, inherently generates error.
In order to improve the precision that rope drives flexible robot, need to study actual motion and the theory mould of rope flexible robot
Difference between type, therefore, it is necessary to establish a kind of rope drive flexible robot's experiment porch.
Summary of the invention
In order to solve the deficiencies in the prior art, the embodiment of the present invention provides a kind of rope drive flexible robot's experiment porch, energy
The variation of joint rotation angle and stress, can use the data and theory mould of test enough in simulation rope drive flexible robot's real work
The data of type compare, and the actual parameter design for driving flexible robot to rope is modified.
The embodiment of the present invention solves the technical solution that above-mentioned technical problem is taken are as follows: provides a kind of rope drive flexible robot
Experiment porch, including flexible arm module, the flexible arm module include the first arm section, the second arm section, third arm section and pass through
The driving rope of the first arm section, the second arm section and the third arm section, the first arm section and the second arm section
Between, pass through joint between the second arm section and the third arm section and connect；Drive module, the drive module include driving
Part, screw rod, feed screw nut, the actuator can drive the screw rod to rotate, and the feed screw nut connect with the screw rod, described
The rotation of screw rod is able to drive the feed screw nut and moves along the axis direction of the screw rod, one end of the driving rope and institute
State feed screw nut's connection；Angle measuring unit, the angle measuring unit are connect with the joint, for detecting the joint
Rotational angle；Tension measurement unit, the tension measurement unit is connect with the driving rope, for detecting the driving rope
Value of thrust.
As a further improvement of the above technical scheme, the driving rope includes at three, and the driving rope is equal at three
It is even to be arranged in the first arm section, the second arm section, in the circumferential direction of the third arm section.
As a further improvement of the above technical scheme, the part that the driving rope is located at the drive module is connected with
The tension measurement unit.
As a further improvement of the above technical scheme, at least one described driving rope is located at the first arm section
Part, positioned at the part of the second arm section, positioned at the part of the third arm section and positioned at the portion of the drive module
Divide and is provided with the tension measurement unit.
As a further improvement of the above technical scheme, the power measuring unit include force snesor and be located at the power
The nut at sensor both ends, the end aperture setting of the nut.
As a further improvement of the above technical scheme, the feed screw nut is connected with guiding piece, the driving rope edge
Its axis direction extends to the drive module and is fixed on the guiding piece.
As a further improvement of the above technical scheme, further include the sliding rail parallel with the screw rod, set on the sliding rail
There is the sliding block that can be slided along the sliding rail, the guiding piece is fixedly installed on the sliding block.
As a further improvement of the above technical scheme, the both ends of the second arm section are respectively equipped with a pair of for the driving
The pulley assembly that rope passes through；The pulley assembly includes installation axle, the pulley being installed in the installation axle and position
Bearing in the pulley both ends；The end of the second arm section is equipped with a pair of of mounting shaft hole, a pair of pulley assembly
The installation axle is respectively arranged in a pair of mounting shaft hole.
It as a further improvement of the above technical scheme, further include a pair of short linkage rope and a pair of long linkage rope, a pair
The short linkage rope is symmetrically arranged in the two sides of the second arm section, the both ends of the short linkage rope respectively with the second arm section
The joint at both ends connects, and a pair of long linkage rope is symmetrically arranged in the two sides of the second arm section, the long linkage rope
Both ends be respectively and fixedly installed to the end of the first arm section, the third arm section.
As a further improvement of the above technical scheme, the short linkage rope and the long linkage rope are equipped with the pulling force
Measuring unit.
Beneficial effects of the present invention:
Rope of the invention drives flexible robot's experiment porch, and the movement of flexible arm module is driven by drive module, can
The actual motion for simulating flexible arm module is detected the corner of joint by angle measuring unit, utilizes tension measurement unit
The value of thrust of measurement driving rope, to test to the kinematic parameter when actual motion campaign of flexible arm module simulation, Ke Yili
It is compared with obtained parameter with the data of theoretical model, and then the actual parameter design for driving flexible robot to rope is repaired
Just.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is that the rope of one embodiment of the invention drives the overall structure diagram of flexible robot's experiment porch；
Fig. 2 is the structural schematic diagram that the rope of one embodiment of the invention drives the drive module of flexible robot's experiment porch；
Fig. 3 is the structural schematic diagram of drive module in Fig. 2；
Fig. 4 is the structural schematic diagram of flexible arm module one embodiment of the present invention；
The structural schematic diagram of Fig. 5 power measuring unit one embodiment of the present invention；
Fig. 6 is the structural schematic diagram of joint one embodiment of the present invention；
Fig. 7 is the structural schematic diagram of end one embodiment of the second arm section of flexible arm module of the present invention；
Fig. 8 is the structural schematic diagram of another embodiment of end of the second arm section of flexible arm module of the present invention；
Fig. 9 is the structural schematic diagram of pulley assembly one embodiment；
Figure 10 is the structural schematic diagram of another embodiment of flexible arm module of the present invention；
Figure 11 is the catenation principle figure of long linkage rope and short linkage rope in one embodiment of the invention.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that the case where not conflicting
Under, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as up, down, left, right, before and after used in invention are only relative to the mutual of each component part of the invention in attached drawing
For positional relationship.
In addition, unless otherwise defined, the technology of all technical and scientific terms used herein and the art
The normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the present invention.Term " and or " used herein includes the arbitrary of one or more relevant listed items
Combination.
The present invention is intended to provide a kind of rope drives flexible robot's experiment porch, it is soft to can detecte rope drive by the experiment porch
Property robot joint corner data, drive rope pulling force data, can use these data and theoretical rope
The data for driving flexible robot are compared, and then the kinematic parameter design for driving flexible robot to actual rope is modified,
The precision of flexible robot is driven to improve to restrict.
For this purpose, it includes drive module 1, flexible arm that rope of the invention, which drives flexible robot's experiment porch, referring to Fig.1 with Fig. 2
Module 2, drive module 1 are used to provide power, and flexible arm module 2 simulates the joint segments that actual rope drives flexible robot, are being driven
Movement is generated under the driving of dynamic model block 1.
Referring to Fig. 3, drive module 1 includes driving motor 10, screw rod 11, feed screw nut 12, screw rod 11 and driving motor 10
Connection generates rotation under the drive of driving motor 10, and feed screw nut 12 is threadedly coupled with screw rod 11, when screw rod 11 rotates,
Feed screw nut 12 can generate moving on 11 axis direction of screw rod, and the driving rope of flexible arm module 2 extend into driving mould
It in block 1 (such as Fig. 1), and is connect with feed screw nut 12, and then the movement of feed screw nut 12 will drive driving rope and move together.Its
In, driving motor 10 is preferably servo motor, is driven by motor servo driver 100, can be protected by servo motor driving
The accuracy of movement is demonstrate,proved, guarantees that feed screw nut generates accurate displacement, and then make the drawing for driving rope to generate with feed screw nut
It stretches and relaxes in the case where being accurately controlled.
The position that driving rope is actually connect with feed screw nut 12 is often difficult to ensure, in order to ensure driving rope with practical
Axis direction it is consistent, feed screw nut 12 is connected with guiding piece 13, and 13 one end of guiding piece is connect with feed screw nut 12, one end towards
The axis direction of rope is driven to extend, driving rope protrudes into drive module 1, and is fixedly connected with guiding piece 13, passes through traction
The movement of block 13 drives the movement of driving rope.
Drive module 1 further includes being slidably disposed in sliding rail 14 with the sliding rail 14 disposed in parallel of screw rod 11, guiding piece 13
On, it is preferred that sliding block 15 is slidably provided on sliding rail 14, guiding piece 13 is fixedly installed on sliding block 15, and then and sliding block
15 are slidably disposed in together on sliding rail 14.
Preferably, feed screw nut 12 is connected with nut seat 120, and nut seat 120 is sheathed on screw rod 11,13 one end of guiding piece
It is connect with nut seat 120, feed screw nut 12, nut seat 120, guiding piece 13 are moved along the axis direction of screw rod 11 together.
Each drive module 1 can drive the movement of a driving rope, in order to drive the movement of multiple driving ropes, such as
Several drive modules 1 are arranged in Fig. 2, several drive modules 1 integrate to form driving box 100, and driving box 100 is whole
Structure cylindrical, the circumferential edge for being uniformly arranged in driving box 100 of several drive modules 1.In the length side of driving box 100
It is disposed with the first end plate 101, the second end plate 102, third end plate 103 and the 4th end plate 104, the first end plate 101 upwards
It is connect with the centre of third end plate 103 by first bearing seat 105, the central part of the second end plate 102 and third end plate 103
Position is connected by second bearing seat 106, and the diameter of second bearing seat 106 is greater than the diameter of first bearing seat 105, third end plate
103 and the 4th are connected by above-mentioned screw rod 11, sliding rail 14 between end plate 104, or can also additionally third end plate 103 with
Crossbearer is arranged between 4th end plate 104 to connect the two.
Specifically, equipped with the first via hole 1000, driving motor 10 is located at for the edge of the second end plate 102, third end plate 103
Between first end plate 101 and the second end plate 103, the output shaft of driving motor 10 passes through the first via hole on the second end plate 102
1000 extend between the second end plate 102 and third end plate 103, screw rod 11 be located at third end plate 103 and the 4th end plate 104 it
Between, and extend between the second end plate 102 and third end plate 103 by the first via hole 1000 on third end plate 103, second
Between end plate 102 and third end plate 103, the output shaft of driving motor 10 is connect with screw rod 11 by shaft coupling 107, the 4th end plate
104 are equipped with the second via hole 1100, flexible arm module for installing fixed flexible arm module 2, and at the middle part of the 4th end plate 104
2 driving rope is extend into driving box 100 by the second via hole 1100, and is connect with guiding piece 13.
The bottom of 4th end plate 104 is equipped with bracket 110, and bracket 110 has identical with 104 profile of the 4th end plate arc-shaped
Structure is used to support the 4th end plate 104.
Such as Fig. 4, the structural schematic diagram of the flexible arm module of one embodiment of the invention is shown.Flexible arm module 2 includes
The first arm section 20 for setting gradually, the second arm section 21, third arm section 22 and pass through the first arm section 20, the second arm section 21, third
The end face of the driving rope 23 of arm section 22, the first arm section 20 is fixedly connected with the 4th end plate 104, and the mode being fixedly connected is preferably
It is bolted, between the first arm section 20 and the second arm section 21, passes through joint 24 between the second arm section 21 and third arm section 22
Connection, joint 24, which provides, relatively rotates required freedom degree between alternate arm section.
Driving rope 23 sequentially passes through the first arm section 20, the second arm section 21 and third arm section 22, drives the one of rope 23
Hold the second via hole 1100 across the 4th end plate 104, and extend at the position of corresponding guiding piece 13, then with guiding piece 13
It being fixedly connected, the other end of driving rope 23 is fixed on the end of third arm section 22, certainly, for different flexible arm modules,
The quantity of arm section may be not limited to 3, can may also have the 4th arm section, the 5th arm section, the 6th in the rear end of third arm section 22
Arm section etc., driving rope 23 are then fixed on the end of the arm section of end.
In order to simplify the model of research, for the embodiment of the present invention with the artificial embodiment of two degrees of freedom flexible machine, joint 24 is excellent
It is selected as candan universal joint, driving rope 23 is preferably 3, and 3 driving ropes 23 pass through three with circumferentially spaced apart 120 degree of directions two-by-two
A arm section.
It is strong in 3 position for driving rope 23 to be located at the second arm section 21 settings in order to detect the kinematic parameter of the model
Measuring unit 25, to measure the value for the pulling force for driving rope 23 at 21 position of the second arm section, it is preferred that drive and restrict at least one
Multiple power measuring units 25 are set on rope 23, and multiple power measuring units 25 are located at the driving rope 23 and protrude into driving box 100
Position, the position positioned at the first arm section 20, the position positioned at the second arm section 21 and positioned at the position of third arm section 22, point
Do not detect the driving rope 23 100 part of driving box, the first arm section 20, the second arm section 21,22 position of third arm section pulling force
Value；In addition, the joint 24 at 22 both ends of the second arm section connects angle measuring unit 26 (such as Fig. 6), to detect the rotation in joint 24
Angle.
Such as Fig. 5, in an embodiment of the invention, power measuring unit 25 includes force snesor 250 and senses positioned at power
The nut 251 at 250 both ends of device, the structure cylindrical of nut 251, the end of nut 251 are offered for driving rope 23 to pass through
Via hole 252, specifically, both ends of two nuts 251 respectively with force snesor 250 are fixed, driving rope 23 passes through a nut
The via hole 252 of 251 ends penetrates, and is fixed on nut 251, and pulling force is passed to force snesor 250 by nut 251, is made
Force snesor 250 detects the pulling force of driving rope 23, is then pierced by from the via hole 252 of the end of another nut 251.
Such as Fig. 6, in an embodiment of the invention, angle measuring unit 26 is preferably angular encoder, each joint 24
Connect two angular encoders, two angular encoders two rotation axis connections with joint 24 respectively detect joint with this
Rotational angle in 24 two rotation directions.
Such as Fig. 7, the both ends of the second arm section 21 are equipped with line-crossing disk 210, offer on line-crossing disk 210 and pass through for driving rope 23
Third cable-through hole 211, the first arm section 20 is towards one end of the second arm section 21, third arm section 22 towards one end of the second arm section 21
Equipped with being provided with line-crossing disk, and third cable-through hole is opened up on line-crossing disk.
In the present embodiment, drive rope 23 directly through the first arm section 21, the second arm section 22, the third mistake of third arm section 23
String holes, driving rope 23 will receive biggish frictional force at third via hole, the model of the present embodiment can simulate frictional force compared with
Big operating condition.
Such as Fig. 8, another embodiment of the present invention the second arm section end construction schematic diagram, second implementation of the present invention are shown
The end construction of second arm section of the second arm section end construction and first embodiment of the invention of example is essentially identical, difference
It is, the end of the second arm section 21 is additionally provided with a pair of of pulley assembly 4, and driving rope 23 is worn between a pair of of pulley assembly 4
It crosses, driving rope 23 frictional force suffered after third cable-through hole 211 can be substantially reduced.
Such as Fig. 9, pulley assembly 4 is including installation axle 40, the pulley 41 being mounted in installation axle 40 and is located at pulley 41
The bearing 42 at both ends, line-crossing disk 210 are equipped with a pair of of mounting shaft hole 212, and installation axle 40 is installed by corresponding mounting shaft hole 212
On line-crossing disk 211, pulley 41 is equipped with rolling groove 410, and a pair of of pulley 41 is symmetrical arranged centered on cable-through hole 211, so that
From cable-through hole 211 across driving rope 23 just enter the rolling groove 410 of a pair of of pulley 41, wherein a pair of of pulley 41
Rolling groove 410 size be less than cable-through hole 211 pore size, and guarantee its it is close enough driving rope 23 diameter, lead to
The setting of pulley assembly 4 is crossed, the frictional force that driving rope 23 is subject to due to passing through cable-through hole 211 can be significantly reduced.
Preferably, pulley assembly 4 is also provided in the end of the end of the first arm section 20, third arm section 22.
In the present embodiment, which can simulate the operating condition in the case of less friction.
In above embodiments, the relative rotation between each arm section of flexible arm module 2 be it is independent, i.e. the second arm section 21,
Second arm section 22 is respectively provided with two freedom degrees, and the rotation between the second arm section 21 and the second arm section 22 is without interaction relation.In the following,
The scheme of corner linkage between each arm section of flexible arm module is described in detail in 0 and Figure 11 referring to Fig.1.
Such as Figure 10, in the present embodiment, the structure base of the flexible arm module in the structure and above-described embodiment of flexible arm module
This is identical, is also classified into pulley assembly and does not have two kinds of situations of pulley assembly.The flexible arm module of the present embodiment
With the flexible arm module of above-described embodiment the difference is that: be provided with short linkage rope 5 and long linkage rope 6.
Referring to Fig.1 1, a pair of short linkage rope 5 of setting, a pair of short linkage rope 5 is symmetrically arranged in the two sides of the second arm section 21, knot
Figure 10, the both ends of the second arm section 21 are closed, the both ends of the shaft of the one degree of freedom in joint 24 are provided with the first wire reels 240, the
One wire reels 240 are rotated synchronously with the shaft in joint 24, in the side of the second arm section 21, one end of one short linkage rope 5
Across 21 one end of the second arm section line-crossing disk 210 and be wound on corresponding first wire reels 240, the short linkage rope 5 it is another
The line-crossing disk 210 across 21 other end of the second arm section is held, and is wrapped on first wire reels 240 at the end, the two of short linkage rope 5
End is fixedly installed；In the other side of the second arm section 21, one end of another short linkage rope 5 passes through the mistake of 21 one end of the second arm section
Drum 210, and be wound on first wire reels 240 corresponding to the side of joint 24, the other end of the short linkage rope 21 passes through second
The line-crossing disk 210 of the other end of arm section 21, and be wrapped on corresponding first wire reels 240, the both ends of the short linkage rope 5 are solid
Fixed setting.The both ends of short linkage rope 5 wind the contrary of the first wire reels 240, also, the winding of two short linkage rope 5 corresponds to
The first wire reels 240 direction also on the contrary, therefore, see on the whole, two short linkage rope 5 is in the X-shaped structure intersected.
Such as Figure 11, a pair of long linkage rope 6 of setting, a pair of long linkage rope 6 is symmetrically disposed on the two sides of the second arm section 21, in conjunction with
Figure 11, a pair of long linkage rope 6 for realizing another freedom degree linkage, in the side of the second arm section 21, one long linkage rope 6
One end pass through line-crossing disk 210 of the second arm section 21 towards the end of third arm section 22, and pass through 21 end of the second arm section pass
Section 24, joint 24 are equipped with the second wire reels 241, and the end of long linkage rope 6 winds the second wire reels 241, then link long
The end of rope 6 is fixed；The other end of the long linkage rope 6 passes through the line-crossing disk 210 of 21 other end of the second arm section, and passes through the second arm
The joint 24 at 21 ends of section, then extends to the end of the first arm section 20, the end of long linkage rope 6 is wrapped in the second wire reels
On 241, and the end fixed setting at 6 end of long linkage rope, when by the second arm section 21, long linkage rope 6 surrounds the second arm
Section 21 is bent 180 degree；In 21 opposite side side of the second arm section, another long linkage rope 6 also uses identical connection type, one
End is fixedly connected with the end of third arm section 22, and the other end sequentially passes through joint 24, the second wire reels 241 of winding, is then held
Portion's fixed setting, when by the second arm section 21, which rotates 180 degree around the second arm section 21.Preferably, first
The outer surface of the end of arm section 20, third arm section 22 is equipped with and is connected with inside solidus seat 27, the both ends of long linkage rope 6 respectively from
First arm section 20, the stretching of solidus seat 27 of third arm section 22 and fixation.
Short linkage rope 5, long linkage rope 6 realize the second arm section 21, the connection in 22 two freedom degree directions of third arm section respectively
It is dynamic, so that the rotation of two arm sections is mutually linked.
In the present embodiment, strong measuring unit 25 is respectively provided in short linkage rope 5, long linkage rope 6, for detecting short linkage rope
5, the value of thrust of long linkage rope 6.
In the present embodiment, pulley assembly may be arranged in the end of arm section, carry out it under the operating condition of less friction
Experiment, can also be not provided with pulley assembly, test it under the operating condition of big frictional force.
It is noted that flexible arm module disclosed by the embodiments of the present invention is some preferred embodiments of the present invention, ability
Field technique personnel can increase the quantity of driving rope, increase the quantity of arm section to obtaining more models, these should be
In protection scope of the present invention.
It is to be illustrated to what preferable implementation of the invention carried out, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of rope drives flexible robot's experiment porch, which is characterized in that including
Flexible arm module, the flexible arm module include the first arm section, the second arm section, third arm section and pass through first arm
The driving rope of section, the second arm section and the third arm section, between the first arm section and the second arm section, described the
It is connected between two arm sections and the third arm section by joint；
Drive module, the drive module include actuator, screw rod, feed screw nut, and the actuator can drive the screw rod to turn
Dynamic, the feed screw nut connect with the screw rod, and the rotation of the screw rod is able to drive the feed screw nut along the screw rod
Axis direction is mobile, and one end of the driving rope is connect with the feed screw nut；
Angle measuring unit, the angle measuring unit are connect with the joint, for detecting the rotational angle in the joint；
Tension measurement unit, the tension measurement unit are connect with the driving rope, for detecting the drawing of the driving rope
Force value.
2. rope according to claim 1 drives flexible robot's experiment porch, which is characterized in that the driving rope includes three
Locate, the driving rope is uniformly arranged in the first arm section, the second arm section, the circumferential direction of the third arm section at three
On.
3. rope according to claim 2 drives flexible robot's experiment porch, which is characterized in that the driving rope is located at institute
The part for stating drive module is connected with the tension measurement unit.
4. rope according to claim 3 drives flexible robot's experiment porch, which is characterized in that at least one described driving
Rope, be located at the first arm section part, positioned at the second arm section part, positioned at the part of the third arm section with
And the tension measurement unit is provided with positioned at the part of the drive module.
5. rope according to claim 1 drives flexible robot's experiment porch, which is characterized in that the power measuring unit includes
Force snesor and nut positioned at the force snesor both ends, the end aperture setting of the nut.
6. rope according to claim 1 drives flexible robot's experiment porch, which is characterized in that the feed screw nut is connected with
Guiding piece, the driving rope extend to the drive module along its axis direction and are fixed on the guiding piece.
7. rope according to claim 6 drives flexible robot's experiment porch, which is characterized in that further include flat with the screw rod
Capable sliding rail, the sliding rail are equipped with the sliding block that can be slided along the sliding rail, and the guiding piece is fixedly installed in the sliding block
On.
8. rope according to any one of claim 1 to 7 drives flexible robot's experiment porch, which is characterized in that described
The both ends of second arm section are respectively equipped with a pair of pulley assembly passed through for the driving rope；
The pulley assembly includes installation axle, the pulley being installed in the installation axle and the axis positioned at the pulley both ends
It holds；
The end of the second arm section is equipped with a pair of of mounting shaft hole, and the installation axle of a pair of pulley assembly is installed respectively
In in a pair of mounting shaft hole.
9. rope according to any one of claim 1 to 7 drives flexible robot's experiment porch, which is characterized in that further include
A pair of short linkage rope and a pair of long linkage rope, a pair of short linkage rope are symmetrically arranged in the two sides of the second arm section, institute
The both ends for stating short linkage rope are connect with the joint at the second arm section both ends respectively, and a pair of long linkage rope is arranged symmetrically
In the two sides of the second arm section, the both ends of the long linkage rope are respectively and fixedly installed to the first arm section, the third arm
The end of section.
10. rope according to claim 9 drives flexible robot's experiment porch, which is characterized in that the short linkage rope and institute
Long linkage rope is stated equipped with the tension measurement unit.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910344482.5A CN109955286A (en) | 2019-04-26 | 2019-04-26 | Rope drives flexible robot's experiment porch |
| PCT/CN2019/086335 WO2020215387A1 (en) | 2019-04-26 | 2019-05-10 | Experimental platform for cable-driven flexible robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910344482.5A CN109955286A (en) | 2019-04-26 | 2019-04-26 | Rope drives flexible robot's experiment porch |
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|---|---|
| CN109955286A true CN109955286A (en) | 2019-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910344482.5A Pending CN109955286A (en) | 2019-04-26 | 2019-04-26 | Rope drives flexible robot's experiment porch |
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| Country | Link |
|---|---|
| CN (1) | CN109955286A (en) |
| WO (1) | WO2020215387A1 (en) |
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| CN111421530A (en) * | 2020-03-27 | 2020-07-17 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Micro-gravity experimental platform for rope-driven flexible mechanical arm |
| CN111551205A (en) * | 2020-04-23 | 2020-08-18 | 国网宁夏电力有限公司电力科学研究院 | Detection robot and system thereof |
| CN111993398A (en) * | 2020-08-11 | 2020-11-27 | 哈尔滨工业大学（深圳） | Testing device for closed-loop rope driving flexible mechanical arm |
| CN112621736A (en) * | 2020-11-19 | 2021-04-09 | 西安电子科技大学 | Flexible mechanical arm system for deep cavity operation and continuum robot |
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| CN111993398A (en) * | 2020-08-11 | 2020-11-27 | 哈尔滨工业大学（深圳） | Testing device for closed-loop rope driving flexible mechanical arm |
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| WO2023065659A1 (en) * | 2021-10-19 | 2023-04-27 | 中国民航大学 | Seven-degree-of-freedom flexible mechanical arm based on offset cross shaft hinging |
| CN114367963A (en) * | 2022-02-18 | 2022-04-19 | 哈尔滨工业大学（深圳） | Series flexible arm with rope-driven ball rolling joint with position sensing capability |
| CN114918975A (en) * | 2022-05-18 | 2022-08-19 | 哈尔滨工业大学（深圳） | High-precision experiment platform based on rope-driven continuous robot |
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