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A flexible joint and robot with large rotation angle driven by rope

A rope-driven, flexible joint technology, applied in the field of robotics, can solve problems such as lack of flexibility, and achieve the effect of flexible design, good flexibility, and simple structure

Active Publication Date: 2021-03-05
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The overall structure in the above technical solution is rigid and does not have a flexible solution

Method used

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  • A flexible joint and robot with large rotation angle driven by rope
  • A flexible joint and robot with large rotation angle driven by rope
  • A flexible joint and robot with large rotation angle driven by rope

Examples

Experimental program
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Embodiment Construction

[0031]This embodiment provides a rope-driven large-angle flexible joint, in order to facilitate understanding of the present embodiment, the principle of the counter-line four-side mechanism mentioned in the present embodiment will be described in detail.

[0032]About counter parallel quadrangular mechanism and its spherical approach

[0033]Seefigure 1 In order to make the institution's moving center tracks approximately a circle, assume that P0(0, c0) For the heart of the imaginary circle, the false radius of the false circle is R, considering the intersection of a radius and the imaginary circle is Pc(xcYc), The intersection of the ellipse is Pe(xeYe).

[0034]Easible from geometric relationships

[0035]ye= Xe / tan θ + c0

[0036]

[0037]From the above two forms available

[0038]

[0039]Among them, definitions | Pcpe| = | P0pe| -r, when | PcpeWhen it is close to zero, the moving center track is approximately a circle, and the mechanism parameter values ​​that meet the requirements of the desired r...

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Abstract

The invention provides a large-corner flexible joint based on rope driving and a robot. The flexible joint comprises a first platform, a second platform, an elastic branched chain and multiple rigid branched chains, wherein the two ends of the elastic branched chain are fixedly connected to the first platform and the second platform respectively; each rigid branched chain comprises a connecting rod, a first rotating joint and a second rotating joint, one end of the connecting rod is connected to the first platform through the first rotating joint, and the other end of the connecting rod is connected to the second platform through the second rotating joint; each first rotating joint comprises first connecting part provided with two rotating pairs, and the first connecting part is hinged tothe first platform and the corresponding connecting rod respectively; each second rotating joint comprises a second connecting part provided with two rotating pairs and a third connecting part provided with one rotating pair, the second connecting part is hinged to the third platform and one end of the third connecting part respectively, and the other end of the third connecting part is hinged tothe corresponding connecting rod. The large-corner flexible joint has the advantages of simple structure, good flexibility and adjustable rigidity.

Description

Technical field[0001]The present invention belongs to the technical field of robot, and in particular to a rope-driven high-angle flexible joint and robot.Background technique[0002]The rope drive robot is a robot that connects the platform (or end effector) and the static platform, which has the advantages of large working space, high load quality and easy modularity, has become a hot spot for people.[0003]A rope-driven skewide mixer large load robot arm is provided in the first China Patent Application No. 201910134989.8, including the body and shoulder joints disposed on the body, a large arm, an elbow joint, a small arm The bionic palm; the elbow joint includes the elbow fixed platform, the elbow activity platform, and three identical positions of the elbow fixed platform and the elbow activity platform, the elbow fixing platform is disposed on the large arm, elbow The center of the center of the stationary platform and the center of the elbow activity platform is L, and the thre...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J9/10
CPCB25J9/104B25J9/106B25J17/00
Inventor 李兵刘飞黄海林徐文福宋炎书宁英豪
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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