A universal force measuring drive device for super redundant manipulator

Abstract

The present invention discloses a force measuring drive device, which relates to the field of drive devices, and includes a structural frame and multiple groups of single drive modules, wherein the structural frame includes a front support plate and a rear support plate, and the central axis of the front support plate coincides with the central axis of the rear support plate; each single drive module is evenly arranged around the central axis of the structural frame; the single drive module includes a lead screw, a linear guide, a linear guide support steel plate, a force sensor and a threading nut; the linear guide support steel plate is connected to the linear guide; the lead screw passes through a lead screw nut seat, a linear guide slider passes through the linear guide, and the lead screw nut and the linear guide slider are connected to the lead screw nut seat. The force measuring drive device provided by the present invention improves versatility and the convenience of disassembly and assembly, can quickly disassemble the single drive module, can measure various types of super-redundant mechanical arms, and can monitor the structure of the force in the driving rope in real time.

Description

Technical Field

[0001] The present invention relates to the field of drive devices, and in particular to a universal force measuring drive device for a super redundant mechanical arm. Background Art

[0002] The posture of the hyper-redundant robotic arm during motion is closely related to the rope force of each joint arm and the inherent characteristics of the driving rope, so it is extremely important to study the characteristics of the driving rope during the motion of the snake arm.

[0003] In a hyper-redundant robot device, the drive rope is directly connected to the drive unit, and the force measuring device is a device used to detect the force in the rope for various types of hyper-redundant robotic arms. The drive device of a conventional hyper-redundant robot cannot meet the requirements of versatility and quick disassembly of various types of hyper-redundant robotic arms.

[0004] The existing drive devices for super-redundant manipulators are all manipulator drive devices used for specific environmental requirements. Due to space volume limitations and in order to minimize the dry friction between the drive rope and the expansion mechanism during output, the drive rope is generally required to be directly built into the inner side of the frame structure according to the needs of the manipulator to minimize the angle between the drive rope and the expansion mechanism, thereby reducing the friction of the drive rope. This drive device needs to be compactly arranged, the output range of the drive rope is limited; the single drive module is difficult to disassemble separately; the drive rope is inside the frame structure and is not easy to replace; and the interchangeability for different types of manipulators is poor. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to improve the versatility of the driving device and the convenience of disassembly and assembly.

[0006] To achieve the above-mentioned purpose, the present invention provides a force measuring drive device, including a structural frame and multiple groups of single drive modules, the structural frame includes a front support plate and a rear support plate, the central axis of the front support plate coincides with the central axis of the rear support plate; each of the single drive modules is evenly arranged around the central axis of the structural frame.

[0007] Furthermore, the single drive module includes a screw rod, a linear guide rail, a linear guide rail support steel plate, a force sensor and a threading nut; the linear guide rail support steel plate is connected to the linear guide rail; the screw rod passes through the screw rod nut seat, the linear guide rail slider passes through the linear guide rail, and the screw rod nut and the linear guide rail slider are connected to the screw rod nut seat.

[0008] Furthermore, one end of the screw rod is connected to the corresponding motor through a motor support seat, a retaining spring, a bearing, a locking nut, and a coupling, and the motor support seat is fixed to the rear support plate; the other end of the screw rod is connected to the front support plate through a bearing.

[0009] Furthermore, one end of the force sensor is locked to the screw nut seat, and the other end is connected to the threading nut.

[0010] Furthermore, one end of the driving rope passes through and is clamped in the threading nut, and the other end is output through a fixed pulley.

[0011] Furthermore, the two fixed pulleys are respectively fixed to one end of the pulley support plate fixing seat and one end of the pulley support plate.

[0012] Furthermore, the pulley support plate fixing seat is fixed to the front support plate and is evenly distributed around the central axis of the structural frame along with the single drive module.

[0013] Furthermore, the pulley support plate is fixed to the non-pulley end of the pulley support plate fixing seat.

[0014] Furthermore, the output position of each drive rope can be adjusted individually or as a whole according to the requirements of various types of super-redundant robotic arms being tested.

[0015] Furthermore, each driving rope is arranged outside the driving device.

[0016] Technical effect: The force measuring drive device provided by the present invention can conveniently replace the drive rope, quickly disassemble the single drive module, measure various types of super-redundant mechanical arms, and monitor the structure of the force in the drive rope in real time, thereby improving the versatility of the drive device and the convenience of disassembly and assembly.

[0017] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a structural schematic diagram of a universal force measuring drive device for a super-redundant mechanical arm in an embodiment of the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of a single drive module;

[0020] Figure 3 is along Figure 2 Sectional view along line AA;

[0021] Figure 4 yes Figure 2 The enlarged view of point B in the middle;

[0022] Figure 5 yes Figure 2 Enlarged view of point C in the middle.

[0023] Reference numerals

[0024] 1-driving rope; 2-rope guide drum; 3-rope guide drum tooling plate; 4-tooling support plate; 5-support pad; 6-structural frame; 6.1-front support plate; 6.2-rear support plate; 7-single drive module; 7.1-winding pulley a; 7.2-winding pulley a anti-drop cover; 7.3-adjustable winding pulley a support plate; 7.4-pulley support plate fixing seat; 7.5-winding pulley b; 7.6-winding pulley Wheel b anti-drop cover; 7.7-screw nut; 7.8-threading nut; 7.9-force sensor; 7.10-screw nut seat; 7.11-linear guide slider; 7.12-linear guide; 7.13-linear guide support steel plate; 7.14-screw; 7.15-motor support seat; 7.16-circlip; 7.17-bearing; 7.18-locking nut; 7.19-coupling; 8-motor. DETAILED DESCRIPTION

[0025] The following describes several preferred embodiments of the present invention with reference to the drawings in the specification, so that the technical content is clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0026] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0027] like Figures 1 to 5 As shown, an embodiment of the present application provides a universal force measuring drive device for a super-redundant manipulator, wherein the single drive modules 7 are evenly distributed along the central axis of the structural frame 6 and are located between the front support plate 6.1 and the rear support plate 6.2. The winding pulley support plate at the front end of each single drive module 7 can adjust the output circle diameter of the drive rope 1 as required to meet the requirements of different types of super-redundant manipulators. The front end rope guide barrel tooling plate 3 is detachable, adapted according to the requirements of manipulators of different diameters, and is installed and fixed on the tooling support plate 4 to improve the detachability and replaceability. The tooling support plate 4 is integrally fixed to the structural frame 6 through the support pad 5. The motor 8 provides a power source for each single drive module 7 to realize the linear motion of the drive rope 1.

[0028] The screw nut 7.7 cooperates with the ball screw 7.14 to convert the rotary motion into the linear motion of the screw nut seat 7.10. During the linear motion, in order to ensure the stability of the mechanism, the linear guide slider 7.11 is added to cooperate with the linear guide 7.12 and the linear guide support steel plate 7.13 to support and guide the screw nut seat 7.10 to make reciprocating linear motion along the axial direction of the screw 7.14. The drive rope 1 is fastened in the threading nut 7.8. The force sensor 7.9 has external threads at both ends, which are fixed with the threading nut 7.8 and the screw nut seat 7.10 by the threads. The screw nut seat 7.10 drives the drive rope 1 to make reciprocating linear motion along the axial direction of the screw 7.14. The winding pulley a7.1 and the winding pulley b7.5 are fixed at both ends of the pulley support plate fixed seat 7.4. The drive rope 1 is wound around the winding pulley b7.5 and the winding pulley a7.1 on both sides to realize the reversal of the movement of the drive rope 1. At the same time, in order to prevent the driving rope 1 from derailing during the sliding process, a winding pulley a anti-detachment cover 7.2 and a winding pulley b anti-detachment cover 7.6 are installed on the two pulley sides. Two adjustable winding pulley a support plates 7.3 are symmetrically fixed on both sides of the non-pulley end of the pulley support plate fixing seat 7.4. The adjustable winding pulley a support plate 7.3 is provided with multiple rows of positioning holes, which can cooperate with the pulley support plate 7.4 to adjust the output position of the driving rope 1. The pulley support plate 7.4 fixing seat is arranged in a stepped manner on the front support plate 6.1, which can reduce the output diameter of the driving rope 1 and save the arrangement space. The output end of the driving rope 1 is reversed through the adjustable winding pulley a support plate 7.3 and the pulley support plate 7.4, and is not limited by the position of the power source. The motor 8 is fixed to one end of the motor support 7.15, and is directly connected to one end of the screw 7.145 through the retaining spring 7.16, the bearing 7.17, the locking nut 7.18 and the coupling 7.19. The motor 8 realizes the movement of the driving rope 1 through the single driving module, monitors the data of the force sensor 7.9 in real time, and obtains the real-time change of the force in each driving rope during the movement of the super redundant manipulator.

[0029] Each driving rope 1 is disposed outside the driving device, so that different types of driving ropes 1 can be easily replaced according to the requirements of the super-redundant robot arm.

[0030] In summary, the force measuring drive device provided in this embodiment can conveniently replace the drive rope, quickly disassemble the single drive module, measure various types of super-redundant robotic arms, and monitor the structure of the force in the drive rope in real time, thereby improving the versatility of the drive device and the convenience of disassembly and assembly.

[0031] The preferred specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in the field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in the technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A force measuring drive device, characterized in that: It includes a structural frame, a rope guide drum tooling plate, a tooling support plate, and multiple groups of single drive modules. The structural frame includes a front support plate and a rear support plate. The central axis of the front support plate coincides with the central axis of the rear support plate. Each of the single drive modules is evenly arranged around the central axis of the structural frame. The tooling support plate is fixed to the front support plate of the structural frame through a support pad, and the rope guide drum tooling plate is detachably mounted on the tooling support plate. The single drive module includes a lead screw, a linear guide, a linear guide support steel plate, a force sensor and a threading nut; the linear guide support steel plate is connected to the linear guide; the lead screw passes through the lead screw nut seat, the linear guide slider passes through the linear guide, and the lead screw nut and the linear guide slider are connected to the lead screw nut seat; one end of the force sensor is locked to the lead screw nut seat, and the other end is connected to the threading nut; The pulley support plate fixing seat is fixed to the front support plate and is evenly distributed around the central axis of the structural frame with the single drive module. The pulley support plate is fixed to the non-pulley end of the pulley support plate fixing seat; two adjustable winding pulley a support plates are symmetrically fixed on both sides of the non-pulley end of the pulley support plate fixing seat, and the adjustable winding pulley a support plate is provided with multiple rows of positioning holes, which can be coordinated with the pulley support plate to adjust the output position of the drive rope. The output position of each drive rope can be adjusted individually or as a whole according to the requirements of various types of super-redundant robotic arms being tested; the pulley support plate fixing seats are arranged in a stepped manner on the front support plate.

2. The force measuring drive device according to claim 1, characterized in that: One end of the screw rod is connected to the corresponding motor through a motor support seat, a retaining spring, a bearing, a locking nut, and a coupling, and the motor support seat is fixed to the rear support plate; the other end of the screw rod is connected to the front support plate through a bearing.

3. The force measuring drive device according to claim 2, characterized in that: One end of the driving rope passes through and is clamped in the threading nut, and the other end is output through the fixed pulley.

4. The force measuring drive device according to claim 2, characterized in that: The two fixed pulleys are respectively fixed to one end of the pulley support plate fixing seat and one end of the pulley support plate.

5. The force measuring drive device according to claim 2, characterized in that: Each driving rope is arranged outside the driving device.

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