CN102501246B - Three-drive extensible dexterous mechanical arm - Google Patents
Three-drive extensible dexterous mechanical arm Download PDFInfo
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- CN102501246B CN102501246B CN201110348828.2A CN201110348828A CN102501246B CN 102501246 B CN102501246 B CN 102501246B CN 201110348828 A CN201110348828 A CN 201110348828A CN 102501246 B CN102501246 B CN 102501246B
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Abstract
The invention discloses a three-drive extensible dexterous mechanical arm, and aims to simplify the structure of the mechanical arm and increase the degree of freedom to dexterously and effectively capture a space target. A power source of the three-drive extensible dexterous mechanical arm is three driving units arranged on a base, wherein two driving units control a posture of the three-drive extensible dexterous mechanical arm through the transmission of motions of a lead screw, a lead screw nut, a push rod and a connecting rod; the third driving unit controls the rotary motion of the whole three-drive extensible dexterous mechanical arm; and therefore, (2N+5) degrees of freedom can be controlled through the three driving units, wherein N is a natural number. A joint of the three-drive extensible dexterous mechanical arm is a combined body of a universal joint pin, a joint shell and concave and convex limiting mechanisms, and the joint can bend and rotate; meanwhile, the joint can be connected in series for extension, so that the mechanical arm has extremely high degree of freedom and dexterity.
Description
Technical field
The present invention relates to robot mechanism design field, definite says, design a kind of three and drive expendable machine tool arms, for the flexible crawl of extraterrestrial target with catch.
Background technology
Along with deepening continuously of space exploration, at engineering fields such as space articulation, service in-orbit, freight handling, target acquistions, space manipulator is being brought into play vital effect.In the face of complicated space environment, miscellaneous operand and day by day complicated operation task, require space manipulator to there is the features such as high reliability, economy, security, dexterity.
At present, space manipulator mostly is six degree of freedom, and a driver element being comprised of motor and decelerator will be installed in each joint, has strengthened quality and the rotary inertia of space manipulator when increasing space manipulator structural complexity, is unfavorable for saving energy.In order to improve the dexterity of space manipulator in energy-conservation, design, there is compact conformation, the space manipulator of the features such as lightweight, rotary inertia is little, multiple degrees of freedom, few driving has great importance.
Summary of the invention
The present invention proposes a kind of three and drives expendable machine tool arm, has driver element quantity few, and number of degrees of freedom, is high, dexterity high, can be used in the engineering fields such as space articulation, service in-orbit, freight handling, target acquistion.
Technical scheme of the present invention is as follows:
Three drive an expendable machine tool arm, comprise driver element, leading screw, feed screw nut and push rod, connecting rod, beat ring, joint, annulus and end-effector interfaces, it is characterized in that:
Described driver element is the assembly of rotary-type motor and harmonic speed reducer, be installed on the support of three driving expendable machine tool arms, described leading screw is connected in by shaft coupling on the output shaft of driver element and drives feed screw nut to do linear reciprocating motion, feed screw nut drives push rod to do linear reciprocating motion, described push rod and connecting rod one end are hinged, the connecting rod other end and beat ring outer wall are hinged, described joint is cross axle, the assembly of joint shell and concavo-convex position-limit mechanism, in described annulus, there is a diameter shaft, annulus is connected by pin with joint shell, described end-effector interfaces is flange form, can connect dissimilar end effector.
Further, three drive expendable machine tool arm to comprise altogether three driver elements, wherein two driver elements are connected with leading screw by shaft coupling, by the power of feed screw nut, connecting rod and push rod, transmit successively, realize the upper and lower and motion that deflects of beat ring, the 3rd driver element is connected with the input in first joint by shaft coupling, realizes three driving expendable machine tool arms around the integral-rotation motion of self axis.
Further, leading screw drives push rod to do linear reciprocating motion by feed screw nut, and push rod is hinged by connecting rod and beat ring outer wall.
Further, articulation structure has extensibility, and the output in previous joint is again the input in a rear joint simultaneously, and in three driving expendable machine tool arm configurations, the quantity in joint can extend to N, and wherein, N is natural number; Concavo-convex position-limit mechanism in joint has omnidirectional's rotating function of ball pivot, is subject to again spacing on concaveconvex structure simultaneously, plays location and guide effect in the motion process of three driving expendable machine tool arms.
Further, between the cross axle in the cross axle in last joint and a rear joint, by joint shell, be connected, under the push-pull effort effect that beat ring produces at push rod, there is beat, drive the first IA cross axle beat, the first IA cross axle can drive the cross axle beat in second joint by the joint shell between the first and second joints again, and the first IA concavo-convex position-limit mechanism is as the fulcrum of second joint beat and spacing simultaneously; Motion transfer principle is subsequently identical with above-mentioned principle, by the accumulation of a plurality of joints beat motion, makes three driving expendable machine tool arms realize large-scale beat motion.
Three of the present invention's design drives expendable machine tool arm, comprise three driver elements, two rhizoid thick sticks and feed screw nut, push rod, connecting rod, joint and the annulus that are arranged on support, end, with flange form end-effector interfaces, can, according to mission requirements, connect different end effectors.
Three driver elements are the power source of three driving expendable machine tool arms, and leading screw and feed screw nut are converted into push rod linear reciprocating motion by rotatablely moving of motor; Wherein two driver elements drive leading screw and nut motion, by the push rod with nut interlock and connecting rod, act on beat ring, change the first joint attitude, by the shell power transfer function between cross axle and the first joint and second joint, power is delivered to second joint, then by the cross axle and the joint shell that are attached thereto, continues to change the beat direction in follow-up joint, the like, reach and control three and drive the expendable machine tool arms object of crooked beat attitude such as up and down; The 3rd driver element drives three to drive the first joint inputs rotation of expendable machine tool arm, by joint successively transferring rotational motion until end reaches the whole rotating object of three driving expendable machine tool arms.
Joint is the assembly of cross axle, joint shell and concavo-convex position-limit mechanism, joint shell can be around cross axle beat up and down, its feature is identical with universal joint, shell two ends, joint are provided with concavo-convex position-limit mechanism, the position-limit mechanism with ball pivot function that concavo-convex position-limit mechanism is concavo-convex cooperation, and two members of mutual concavo-convex cooperation can be along any direction beat, but beat is to certain angle relatively, due to the existence of mechanical position limitation, stop beat, reach the object of controlling deflection angle size.
The invention has the advantages that:
1. three drive the driver element quantity of expendable machine tool arm few, compact conformation, total quality is light;
2. driver element quantity is far smaller than the number of degrees of freedom, of three driving expendable machine tool arms, and dexterity is high;
3. three drive the extensibility of expendable machine tool arm strong, can freely adjust joint quantity according to actual task demand.
Accompanying drawing explanation
Fig. 1 is the three general structure front views that drive expendable machine tool arms that design for example with N=2;
Fig. 2 is the three general structure top views that drive expendable machine tool arms that design for example with N=2;
Fig. 3 is that beat ring, bearing coordinate schematic diagram with the first joint shell;
Fig. 4 is the first joint shell schematic diagram;
Fig. 5 is cross axle schematic diagram;
Fig. 6 is shell schematic diagram between the first joint and second joint;
Fig. 7 is three driving expendable machine tool arm second joint shell schematic diagrames;
Fig. 8 is that the first joint coordinates schematic diagram with second joint;
Fig. 9 is annulus schematic diagram;
Figure 10 is that three driving expendable machine tool arm second joint shells, annulus, actuator interface coordinate schematic diagram with paw;
Figure 11 is that in Front view 1, beat ring is subject to after two thrust synergy, and three drive the crooked schematic diagram of expendable machine tool arm;
Figure 12 is that in Front view 1, beat ring is subject to after two pulling force synergy, and three drive the crooked schematic diagram of expendable machine tool arm;
Figure 13 is that in top view 2, beat ring is subject to after a thrust and a pulling force synergy, and three drive the crooked schematic diagram of expendable machine tool arm;
Figure 14 is that in top view 2, beat ring is subject to after a pulling force and a thrust synergy, and three drive the crooked schematic diagram of expendable machine tool arm;
In figure, identify: driver element 1,33,34, shaft coupling 2,29,32, leading screw 3,31, feed screw nut 4,30, push rod 5,28, the first joint inputs 6, hinge 7,9,25,27, connecting rod 8,26, beat ring 10, bearing 11, the first joint shells 12, cross axle 13,15, the first joints and second joint shell 14, second joint shell 16, pin 17, end-effector interfaces 18, paw 19, annulus 20, concavo-convex position- limit mechanism 21,22,23, holder 24.
The specific embodiment
Below in conjunction with accompanying drawing, this mechanical arm structure is described further.
As shown in Figure 1, 2, three driver elements 1,33,34 are for whole mechanical arm provides power, and wherein the output of driver element 1,34 is connected with leading screw 3,31 respectively by shaft coupling 2,32; On leading screw 3,31, be separately installed with feed screw nut 4,30, feed screw nut 4,30 is connected with push rod 5,28 respectively, can promote push rod and do linear reciprocating motion; Push rod end has respectively hinge 7,27, by connecting rod 8,26, is connected with beat ring 10 outer walls.By the slip of feed screw nut 4,30, promote respectively push rod 5,28, by the power transfer function of connecting rod 8,26, can control the beat of beat ring 10; Driver element 33 outputs are connected with the first joint input 6 by shaft coupling 29, can drive the first joint to rotate, and by the transmission of joint motions, can make whole three to drive expendable machine tool arm together to rotate.
As shown in Figure 2,3, beat ring 10 is connected by bearing 11 with the first joint shell 12, nested bearing 11 between beat ring 10 and the first joint shell 12, when driver element 1,34 drives feed screw nut 4,30, while acting on beat ring 10 by push rod 5,28 and connecting rod 8,26, beat ring 10 beats, band dynamic bearing 11 beats, bearing 11 drives the first joint shell 12 beats; And when driver element 33 rotates, driving the first joint shell 12 and bearing 11 inner casing rotations, beat ring does not rotate; By controlling beat ring 10, can control the inside the first joint shell 12 beats like this, but beat ring is not with the first joint rotation.
As shown in Figure 4,5, 6, be respectively joint shell 14 between the first joint shell 12, cross axle 13, the first joint and second joint, joint shell 12,14 is hollow cylinder, joint shell 12 is connected by cross axle 13 with joint shell 14, two joint shells can be bobbed and woven relatively, when two joint shell rotations are not on same straight line, still can transferring rotational motion; Joint shell 12 right-hand members and joint shell 16 left ends form concavo-convex position-limit mechanism 22, and shell 14 left ends in joint are the convex portion of concavo-convex position-limit mechanism 23, and shell 14 right-hand members in joint are the concave portion of concavo-convex position-limit mechanism 21.
As shown in Figure 7, second joint shell 16 is connected with joint shell 14 by cross axle 15, and second joint shell 16 left ends are concavo-convex position-limit mechanism 22 convex portion structures, and the groove fit of bossing and joint shell 12 right-hand members, forms concavo-convex position-limit mechanism 21.
Fig. 8 is Fig. 4,5,6,7 assembling schematic diagram, and Fig. 4 is connected by cross axle 13 with parts shown in Fig. 5, and Fig. 5 is connected by cross axle 14 with Fig. 6, and the concave portion of joint shell 12 right-hand members coordinates with joint shell 16 left end convex portions, forms concavo-convex position-limit mechanism 22; Two member faces of mutual concavo-convex cooperation can be along any direction beat, there is ball pivot function, but slightly different from ball pivot, concave surface not exclusively contacts with convex surface, and the annulus on shown convex portion is when male and fomale(M&F) coordinates rotation, can play spacing effect, two members that male and fomale(M&F) is coordinated relatively rotate certain angle will stop motion.
Be illustrated in figure 9 can around second joint shell 16 corresponding rotation secondary rotate annulus 20, the axle in the middle of annulus plays the supporting role of end-effector interfaces 18, end-effector interfaces 18 can be around this axle rotation simultaneously.
The operation principle of this three drivings expendable machine tool arm is mainly divided into following four kinds of motor patterns:
(1) two driver element promotes push rod simultaneously: when driver element 1,34 rotates and drives respectively leading screw 3,31 simultaneously, leading screw promotes push rod 5,28 by feed screw nut 4,30, push rod 5,28 respectively drivening rod 8,26 acts on beat ring 10, beat ring 10 is subject to after the synergy of two thrusts, be equivalent to be subject to a Moment, thereby around upwards (as Figure 11) rotation inclination of holder 24, drive the first joint shells 12 that are connected by bearing 11 with it to rotate up inclination; The first joint shell 12 drives the first joints and second joint shell 14 to rotate up inclination around take holder 24 as fulcrum by cross axle 13, and due to the existence of concavo-convex position-limit mechanism 23, the first joint and second joint shell 14 are with respect to the first joint shell 12 certain angle that can only be inclined upwardly; Meanwhile, the joint shell 14 that rotation is tilted, again by the interlock effect of cross axle 15, drives second joint shell 16 upwards to take concavo-convex position-limit mechanism 22 grooves as the certain angle of fulcrum rotation inclination; The finally support guide effect with annulus 20 by concavo-convex position-limit mechanism 21, end-effector interfaces 18 can be take concavo-convex position-limit mechanism 21 grooves as fulcrum is along with the certain angle of joint shell 16 inclination; Like this, by the angle of joint beat, accumulate, whole mechanical arm is bent upwards and forms one section of circular arc; By driver element 33, drive each joint to rotate, whole mechanical arm can rotate together with paw simultaneously.The overall structure of the driving of three after beat expendable machine tool arm as shown in figure 11;
(2) two driver elements pull push rod simultaneously: when driver element 1,34 rotates and drives respectively leading screw 3,31 simultaneously, leading screw pulls push rod 5,28 by feed screw nut 4,30, push rod 5,28 respectively drivening rod 8,26 acts on beat ring 10, beat ring 10 is subject to after the synergy of two pulling force, be equivalent to be subject to a Moment, thereby around holder 24 downward (as Figure 12) rotation, tilt, drive the first joint shell 12 being connected by bearing 11 to be with it rotated down inclination; The first joint shell 12 drives the first joints and second joint shell 14 to be rotated down inclination around take holder 24 as fulcrum by cross axle 13, and due to the existence of concavo-convex position-limit mechanism 23, the first joint and second joint shell 14 can only slope downwardly into certain angle with respect to the first joint shell 12; Meanwhile, rotate the joint shell 14 of inclination again by the interlock effect of cross axle 15, drive second joint shell 16 to take concavo-convex position-limit mechanism 22 grooves downwards as the certain angle of fulcrum rotation inclination; The finally support guide effect with annulus 20 by concavo-convex position-limit mechanism 21, end-effector interfaces 18 can be take concavo-convex position-limit mechanism 21 grooves as fulcrum is along with the certain angle of joint shell 16 inclination; Like this, by the angle of joint beat, accumulate, whole mechanical arm is bent downwardly and forms one section of circular arc; By driver element 33, drive each joint to rotate, whole mechanical arm can rotate together with paw simultaneously.The overall structure of the driving of three after beat expendable machine tool arm as shown in figure 12;
(3) driver elements promote push rod, a driver element pulls push rod: when driver element 1 rotarily drives leading screw 3, leading screw promotes push rod 5 by feed screw nut 4, push rod drivening rod 28 applies a thrust to beat ring 10, driver element 34 rotarily drives leading screw 31, leading screw pulls push rod 28 by feed screw nut 30, when push rod drivening rod 26 applies a pulling force to beat ring 10, beat ring 10 is subject to after the synergy of a thrust and a pulling force, be equivalent to be subject to a Moment, thereby tilt around holder 24 downward (as Figure 13) rotation, drive the first joint shell 12 being connected by bearing 11 to be with it rotated down inclination, the first joint shell 12 drives the first joints and second joint shell 14 to be rotated down inclination around take holder 24 as fulcrum by cross axle 13, and due to the existence of concavo-convex position-limit mechanism 23, the first joint and second joint shell 14 can only arrive certain angle with respect to the first joint shell 12, meanwhile, rotate the joint shell 14 of inclination again by the interlock effect of cross axle 15, drive second joint shell 16 to take concavo-convex position-limit mechanism 22 grooves downwards as the certain angle of fulcrum rotation inclination, the finally support guide effect with annulus 20 by concavo-convex position-limit mechanism 21, end-effector interfaces 18 can be take concavo-convex position-limit mechanism 21 grooves as fulcrum is along with the certain angle of joint shell 16 inclination, like this, by the angle of joint beat, accumulate, whole mechanical arm is more and more bent upwards, and forms one section of circular arc line, by driver element 33, drive each joint to rotate, whole mechanical arm can rotate together with paw simultaneously.After beat three drives expendable machine tool arm overall structure as shown in figure 13;
(4) driver elements pull push rod, a driver element promotes push rod: when driver element 1 rotarily drives leading screw 3, leading screw pulls push rod 5 by feed screw nut 4, push rod drivening rod 28 applies a pulling force to beat ring 10, driver element 34 rotarily drives leading screw 31, leading screw promotes push rod 28 by feed screw nut 30, when push rod drivening rod 26 applies a thrust to beat ring 10, beat ring 10 is subject to after the synergy of a pulling force and a thrust, be equivalent to be subject to a Moment, thereby around upwards (as Figure 14) rotation inclination of holder 24, drive the first joint shell 12 being connected by bearing 11 with it to rotate up inclination, the first joint shell 12 drives the first joints and second joint shell 14 to rotate up inclination around take holder 24 as fulcrum by cross axle 13, and due to the existence of concavo-convex position-limit mechanism 23, the first joint and second joint shell 14 can only arrive certain angle with respect to the first joint shell 12, meanwhile, the joint shell 14 that rotation is tilted is again by the interlock effect of cross axle 15, drives second joint shell 16 upwards to take concavo-convex position-limit mechanism 22 grooves and rotates up the certain angle of inclination as fulcrum, the finally support guide effect with annulus 20 by concavo-convex position-limit mechanism 21, end-effector interfaces 18 can be take concavo-convex position-limit mechanism 21 grooves as fulcrum is along with joint shell 16 certain angle that is inclined upwardly, like this, by the angle of joint beat, accumulate, whole mechanical arm is bent upwards and forms one section of circular arc, by driver element 33, drive each joint to rotate, whole mechanical arm can rotate together with paw simultaneously.After beat three drives expendable machine tool arm overall structure as shown in figure 14.
In sum, by the coordination of two driver elements 1,34, control, can make three driving expendable machine tool arms beat on a large scale, by controlling driver element 33, can make three driving expendable machine tool arm integral-rotations; Like this, combine three of whole beat and spinfunction and drive expendable machine tool arm, can facilitate dexterous extraterrestrial target is captured and caught.
Claims (5)
1. three drive an expendable machine tool arm, comprise driver element, leading screw, feed screw nut and push rod, connecting rod, beat ring, joint, annulus and end-effector interfaces, it is characterized in that:
Described driver element is the assembly of rotary-type motor and harmonic speed reducer, be installed on the support of three driving expendable machine tool arms, described leading screw is connected in by shaft coupling on the output shaft of driver element and drives feed screw nut to do linear reciprocating motion, feed screw nut drives push rod to do linear reciprocating motion, described push rod and connecting rod one end are hinged, the connecting rod other end and beat ring outer wall are hinged, described joint is cross axle, the assembly of joint shell and concavo-convex position-limit mechanism, in described annulus, there is a diameter shaft, annulus is connected by pin with joint shell, described end-effector interfaces is flange form, can connect dissimilar end effector.
2. mechanical arm according to claim 1, it is characterized in that: three drive expendable machine tool arm to comprise altogether three driver elements, wherein two driver elements are connected with leading screw by shaft coupling, by the power of feed screw nut, connecting rod and push rod, transmit successively, realize the upper and lower and motion that deflects of beat ring, the 3rd driver element is connected with the input in the first joint by shaft coupling, realizes three driving expendable machine tool arms around the integral-rotation motion of self axis.
3. mechanical arm according to claim 2, is characterized in that: leading screw drives push rod to do linear reciprocating motion by feed screw nut, and push rod is hinged by connecting rod and beat ring outer wall.
4. mechanical arm according to claim 3, it is characterized in that: articulation structure has extensibility, the output in previous joint is again the input in a rear joint simultaneously, and in three driving expendable machine tool arm configurations, the quantity in joint can extend to N, wherein, N is natural number; Concavo-convex position-limit mechanism in joint has omnidirectional's rotating function of ball pivot, is subject to again spacing on concaveconvex structure simultaneously, plays location and guide effect in the motion process of three driving expendable machine tool arms.
5. mechanical arm according to claim 4, it is characterized in that: between the cross axle in the cross axle in last joint and a rear joint, by joint shell, be connected, under the push-pull effort effect that beat ring produces at push rod, there is beat, drive the first IA cross axle beat, the first IA cross axle can drive the cross axle beat in second joint by the joint shell between the first and second joints again, and the first IA concavo-convex position-limit mechanism is as the fulcrum of second joint beat and spacing simultaneously; Motion transfer principle is subsequently identical with above-mentioned principle, by the accumulation of a plurality of joints beat motion, makes three driving expendable machine tool arms realize large-scale beat motion.
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| CN201110348828.2A CN102501246B (en) | 2011-11-08 | 2011-11-08 | Three-drive extensible dexterous mechanical arm |
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| CN201110348828.2A CN102501246B (en) | 2011-11-08 | 2011-11-08 | Three-drive extensible dexterous mechanical arm |
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| CN105415356B (en) * | 2015-12-25 | 2017-03-29 | 哈尔滨工业大学 | A kind of skilful mechanical arm of stagewise oversoul |
| CN105643661B (en) * | 2016-03-04 | 2018-03-16 | 夏林嘉 | Intelligent machine arm |
| CN105856213B (en) * | 2016-04-13 | 2017-10-10 | 上海交通大学 | A kind of modularization highly redundant multiple degrees of freedom flexible mechanical arm system |
| CN107309902A (en) * | 2017-08-21 | 2017-11-03 | 福建龙溪轴承(集团)股份有限公司 | Cross axle articulation structure |
| CN109176470B (en) * | 2018-09-18 | 2019-09-10 | 北京邮电大学 | A kind of robot arm |
| CN109849048A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint coupled using flexural pivot |
| CN113386107B (en) * | 2021-06-21 | 2023-05-23 | 杨壬达 | Passive mechanical auxiliary limb device |
| CN113681590B (en) * | 2021-08-27 | 2022-09-09 | 中国矿业大学 | Modular robot docking device and docking method |
| CN116038754B (en) * | 2023-03-28 | 2023-07-07 | 之江实验室 | Arm wrist joint, arm and humanoid robot |
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