CN203863676U - Four-freedom-degree flexible mechanical arm device driven by servo motor - Google Patents

Abstract

Translated fromChinese

本实用新型提供了一种伺服电机驱动四自由度柔性机械臂装置，包括驱动箱体、伺服电机、舵盘、驱动绳索和弹簧，所述伺服电机安装在所述驱动箱体上，所述舵盘与所述伺服电机连接，所述驱动绳索一端连接所述舵盘，另一端连接所述弹簧，其具备具备良好避障能力和环境适应能力的度柔性机械臂。

The utility model provides a four-degree-of-freedom flexible mechanical arm device driven by a servo motor, which includes a drive box, a servo motor, a rudder plate, a drive rope and a spring, the servo motor is installed on the drive box, and the rudder The disc is connected to the servo motor, one end of the driving rope is connected to the rudder disc, and the other end is connected to the spring, which has a highly flexible mechanical arm with good obstacle avoidance ability and environmental adaptability.

Description

Driven by servomotor four-degree-of-freedom flexible mechanical arm assembly

Technical field

The utility model relates to flexible robot field, and particularly a kind of motor drives four-degree-of-freedom flexible mechanical arm assembly.

Background technology

Mechanical arm, as the important tool of Automation Industry, both can coordinate control system to work alone, and can be arranged on again on robot carrier to expand its application.Because its working space is large, flexibly, control accuracy is high in motion, and the advantage such as adaptive capacity to environment is strong, and it is used widely in fields such as medicine equipment, machining and aerospace industries.Compared with traditional articulated manipulator (also claiming Rigid Robot Manipulator), flexible mechanical arm has higher flexibility and keeps away barrier ability, add that its quality is light, energy consumption is low, efficiency advantages of higher, this makes flexible mechanical arm receive increasing concern, and has had significant progress.But the slenderness ratio of flexible mechanical arm is large, quality is light, rigidity is low, the flexible feature such as large, it is existed in the course of the work and inevitably continue low-frequency vibration, caused the shortcomings such as control accuracy is low, poor stability.In recent years, research about aspects such as material selection, structural design, type of drive, control mode, sensing system and the human-computer interaction interfaces of flexible mechanical arm has obtained domestic and international common concern, especially material selection, structural design, being the focus of current international concern, is extremely challenging key subjects.

Summary of the invention

The purpose of this utility model is to provide a kind of degree flexible mechanical arm of well keeping away barrier ability and adaptive capacity to environment that possesses.

To achieve these goals, the technical solution of the utility model is achieved in that the utility model driven by servomotor four-degree-of-freedom flexible mechanical arm assembly, comprise drive case, servomotor, steering wheel, driving rope and spring, described servomotor is arranged in described drive case, described steering wheel is connected with described servomotor, described driving rope one end connects described steering wheel, and the other end connects described spring.

Further, described servomotor has 6 groups.

Further, described spring has 3 groups, and restrained ring is fixing piecemeal.

Further, the outer flexible film of described spring.

The utility model is broken through the conventional thinking of flexible mechanical arm design, simulate overall flexibility by the bending of more piece flexibility or rigidity, the utility model adopts continuous elongated spring to carry out integrated design, because it not only has good flexible bending ability, also there is certain rigidity with supported mechanical arm agent structure, a kind of new structure design of the four-degree-of-freedom flexible mechanical arm based on driven by servomotor is provided, by the good spring of continuity is carried out to partial cross-section rope driving, even if make mechanical arm under the continuous structure of single-unit, also planar 360 degree rotation can be easy to realize and " S type " deformability in space can be reached arbitrarily, thereby make it possess good barrier ability and the adaptive capacity to environment of keeping away.

Brief description of the drawings

Fig. 1: the utility model general structure schematic diagram.

Fig. 2: the schematic diagram that the utility model drives rope to be connected with spring.

Fig. 3: the schematic diagram in the driving cross section of the utility model mechanical arm.

Fig. 4: the bending length of shrinking of the utility model and flexible body apart between be related to schematic diagram.

Detailed description of the invention

Below in conjunction with brief description of the drawings, utility model is described further.

As shown in Figure 1, the utility model is made up of six servomotors (1), (2), (3), (4), (5) and (6) and steering wheel (7) thereof, spring structure unit (9), (10) and (11), driving rope (8), confinement ring (12), elastic film (13) and drive case (14).

As shown in Figure 2, the flexible film of each spring overcoat (13), inside arranges two driving ropes (8), on driving cross section, middle part (19), driving rope is tied up on mooring points (21), upper in driving cross section, end (20), driving rope is tied up on mooring points (22).

In the flexible mechanical arm configuration being formed by three springs, get it and drive cross section, as shown in Figure 3.After three springs fit tightly, on same circumference, arrange and drive rope mooring points, wherein, at the upper mooring points I (23) that arranges of spring I (24), at the upper mooring points II (26) that arranges of spring II (25), at spring III (27) upper layout mooring points III (28), and 120Du azimuth, adjacent mooring points interval is evenly distributed on same circumference.

The flexible arm that spring structure unit based on being close to by three forms, drive on cross section at it, draw with three mooring points of circle spacings 120 degree distributions, 3 driving ropes in end and driving cross section, middle part can be by the combination of different power, make mechanical arm to any direction bending, can realize 2 frees degree.Because each driving is relatively independent, the free degree in two cross sections can superpose, and like this, mechanical arm has just had 4 frees degree, and can reach arbitrarily in space position has " S type " deformability.

The construction unit of three spring designs being adopted to the method design fitting tightly, is mainly based on following basic understanding.

As Fig. 4, in identical flexible body angle of bend one timing of A, B two character, two flexible body spacing are larger, complete the amount of contraction that the required flexible body of bending of requirement produces larger, and the telescopic traction power providing is also larger.In A and B1, A and B2, A and tri-flexible body combinations of B3, in order to make the bending specific angle of A flexible link, needed amount of contraction: B1 < B2 < B3.Obviously, the advantage in bending property of being combined in of A and B1 is more obvious.

Above-mentioned conclusion is applied in the mechanical arm of construction unit composition of three spring designs, also expects that it approaches as much as possible.So, select the wrapping of three flexible body fixed points.In order to ensure that mechanical arm has certain rigidity, can not chosen axis to the very good spring of retractility, must stretch and just can realize remarkable bending by a small amount of.In flexible mechanical arm structural design, it is very necessary that the application of above-mentioned conclusion seems.

Servo motor driving system is as follows with being connected of flexible mechanical arm.

Six servomotors and steering wheel thereof and driving rope form drive system, article six, drive rope one end to tie up to respectively on the different driving cross section of different spring structures unit, the other end ties up to respectively on the steering wheel of different servo motor, carry out folding and unfolding rope by the rotation of driven by motor steering wheel, and then control contraction and the bending of mechanical arm.In the drive system being formed by servomotor, turn over specific angle by computer control servomotor, drive around the folding and unfolding of the driving rope on steering wheel.Drive the connected mode of rope as follows:

--steering wheel---drives rope---mooring points---spring II middle part to drive cross section to servomotor (1);

---steering wheel---drives rope---mooring points---spring I middle part to drive cross section to servomotor (2);

---steering wheel---drives rope---mooring points---spring III middle part to drive cross section to servomotor (3);

---steering wheel---drives driving cross section, rope---mooring points---spring III end to servomotor (4);

---steering wheel---drives driving cross section, rope---mooring points---spring I end to servomotor (5);

---steering wheel---drives driving cross section, rope---mooring points---spring II end to servomotor (6).

Control system internal communication and as follows with the connection procedure of drive system: being first power supply mode, the alternating current of 220V being transformed to the direct current of 5V by dc source, is servomotor power supply by 32 road helm control circuit plates; With helm control circuit plate power supply in Gei32 road between the laminated cell of 9V.32 road helm control circuit plates provide 32 tunnels relatively independent rudder control interface, when mechanical arm performance test, servomotor I-VI are connected on respectively on 1-6 interface; Then be communication and control mode, on circuit board, have bluetooth receiver module, can directly receive by the control information out of computer Bluetooth transmission.Bluetooth transmission module is inserted on computer USB interface, move on computers bluetooth software Bluesoleil He32 road steering wheel control software simultaneously, set up radio communication by the bluetooth receiver module on bluetooth discovery and circuit board, then set up the connection of 32 road steering wheel control softwares and Bluesoeil, so just set up the radio communication between the helm control circuit plate of steering wheel control software He32 road, Liao32 road, motion that can the each road of controlled in wireless servomotor.

Embodiment 1

This enforcement is that the planar 360 degree based on driving cross section, middle part rotatablely moves and axial shrinkage motion.Participate in driving except controlling middle part the servomotor (4), (5) and (6) in cross section of this enforcement, flexible mechanical arm agent structure system and control system thereof in addition.

The implementation process of planar 360 degree rotation: first drive servomotor (2) rotation, driving rope shrinks, and makes spring I drive flexible mechanical arm to realize base portion 90 bendings of spending between cross section (18) and driving cross section, middle part (19) are installed; Then drive servomotor (1), make flexible mechanical brachiocylloosis orientation to the residing orientation rotation of spring II, when two driving rope (8) amounts of contraction are when identical, the residing orientation of flexible mechanical arm is the middle orientation of spring I and spring II; Then drive servomotor (2) to rotate backward, discharge and drive rope to original state, flexible mechanical brachiocylloosis orientation is continued to the residing orientation rotation of spring II to identical with its orientation of living in; Then drive servomotor (3), driving rope shrinks, make flexible mechanical brachiocylloosis orientation to the residing orientation rotation of spring III, when two driving rope amounts of contraction are when identical, the residing orientation of flexible mechanical arm is the middle orientation of spring II and spring III; Then drive servomotor (1) to rotate backward, discharge and drive rope to original state, flexible mechanical brachiocylloosis orientation is continued to the residing orientation rotation of spring III to identical with its orientation of living in; Then drive servomotor (2), drive rope to shrink, make flexible mechanical brachiocylloosis orientation to the residing orientation rotation of spring I, when two driving rope amounts of contraction are when identical, the residing orientation of flexible mechanical arm is the middle orientation of spring I and spring III; Then drive servomotor III to rotate backward, discharge and drive rope to original state, flexible mechanical brachiocylloosis orientation is continued to the residing orientation rotation of spring I to identical with its orientation of living in; Finally drive servomotor (2) to rotate backward, discharge and drive rope to original state, make flexible mechanical arm return to free straightened condition.

The implementation process of axial shrinkage: first simultaneously control servomotor (1), (2), (3) directional-rotation, three drive rope (8) with the same amount of identical speed contraction phase, can realize flexible mechanical arm lengths and reduce; Then control servomotor (1), (2), (3) reverse rotation, discharge respective drive rope to original state, make flexible mechanical arm recover former length.

The implementation process of planar 360 degree rotation is the motion of two frees degree, has verified the two degree-of-freedom motion ability under three driven by servomotor.The implementation process of axial shrinkage is the motion of one degree of freedom.

Embodiment 2

What this enforcement realized is flexible mechanical arm, in " S type " deformability that can reach arbitrarily in space, needs all devices to participate in realizing.

The approach that realizes of " S type " distortion has two: the one, and 2 drivings of middle part Cross section Design, end cross-sectional design single-point drives; The 2nd, middle part Cross section Design single-point drives, 2 drivings of end cross-sectional design.

The implementation process of the first approach is as follows:

First drive servomotor (2) to rotate, drive rope to shrink, make spring I drive flexible mechanical arm to realize the bending of 90 degree between base portion installation cross section and driving cross section, middle part; Then drive servomotor (4) and (6) to rotate simultaneously, two drive rope (8) with the same amount of identical speed contraction phase, make spring II and spring III drive flexible mechanical arm to realize middle part simultaneously and drive 90 bendings of spending between cross section (19) and driving cross section, end (20), form " S type " distortion; Finally drive servomotor (2), (4) and (6) to rotate backward, three drive ropes (8) to return to former length with identical speed, make the flexible mechanical arm straightened condition that affranchises simultaneously.

The implementation process of the second approach is as follows:

First drive servomotor (1) and (2) to rotate simultaneously, respective drive rope (8) shrinks, and makes spring II and I drive flexible mechanical arm to realize the bending of 90 degree between base portion installed surface (18) and driving cross section, middle part (19); Then drive servomotor (4) to rotate, drive rope (8) to shrink, make spring III drive flexible mechanical arm realization middle part to drive the bending of 90 degree between cross section and driving cross section, end, form " S type " and be out of shape; Finally drive servomotor (1), (2) and (4) to rotate backward, three drive ropes (8) to return to former length with identical speed, make the flexible mechanical arm straightened condition that affranchises simultaneously.

In two kinds of implementation processes twice 90 degree are bending in same plane, and bending opposite direction, the driving cross section, end (20) under " S type " deformation state with its at mechanical arm the cross-wise direction under free straightened condition parallel.This enforcement is four-degree-of-freedom process, has verified the four-degree-of-freedom locomitivity of flexible mechanical arm under six driven by servomotor.

Claims (4)

1. a driven by servomotor four-degree-of-freedom flexible mechanical arm assembly, it is characterized in that: comprise drive case, servomotor, steering wheel, driving rope and spring, described servomotor is arranged in described drive case, described steering wheel is connected with described servomotor, described driving rope one end connects described steering wheel, and the other end connects described spring.

2. driven by servomotor four-degree-of-freedom flexible mechanical arm assembly according to claim 1, is characterized in that: described servomotor has 6 groups.

3. driven by servomotor four-degree-of-freedom flexible mechanical arm assembly according to claim 2, is characterized in that: described spring has 3 groups, and restrained ring is fixing piecemeal.

4. driven by servomotor four-degree-of-freedom flexible mechanical arm assembly according to claim 3, is characterized in that: the outer flexible film of described spring.