A multi-joint passive decoupling mechanism for a rope-driven agile robotic arm

Abstract

The present invention relates to a multi-joint passive decoupling mechanism of a rope-driven agile manipulator, wherein the decoupling mechanism comprises a main shaft, a driving wheel, a following wheel, a fixing piece, a first driving rope wire drum, a first decoupling rope wire drum, a second driving rope wire drum, a second decoupling rope wire drum, a driving rope guide wheel and a decoupling rope guide wheel; the driving wheel, the following wheel, the fixing piece, the first driving rope wire drum, the first decoupling rope wire drum, the second driving rope wire drum and the second decoupling rope wire drum are respectively connected to the main shaft, and the driving rope guide wheel and the decoupling rope guide wheel are arranged on the following wheel; the first driving rope wire drum and the first decoupling rope wire drum are connected to the driving wheel through a first connecting piece, and the second driving rope wire drum and the second decoupling rope wire drum are connected to the fixing piece through a second connecting piece; the rotary joint decoupling structure is realized, the structure is simplified, and the structure of the multi-joint rope can be completed, meeting the dexterity requirements of the agile manipulator.

Description

Technical Field

[0001] The present invention belongs to the field of robotic arms, and in particular relates to a multi-joint passive decoupling mechanism of a rope-driven agile robotic arm. Background Art

[0002] Decoupling mechanisms used in rope-driven manipulators are used to decouple the drive rope. Decoupling mechanisms are primarily categorized as active and passive. To achieve more precise manipulation tasks, passive decoupling mechanisms are developing towards higher precision. This, in turn, results in increasingly complex structures, larger sizes, and higher costs. Currently, most passive decoupling mechanisms are pitch joint decoupling mechanisms, which can only decouple the rope at a single joint and are unable to meet the dexterity requirements of agile robotic arms. Summary of the Invention

[0003] Aiming to solve at least one of the technical problems existing in the prior art, the present invention provides a multi-joint passive decoupling mechanism for a rope-driven agile robotic arm, which can complete the structure of a multi-joint rope and meet the dexterity requirements of the agile robotic arm.

[0004] An embodiment of the first aspect of the present invention is a rope-driven agile robotic arm multi-joint passive decoupling mechanism, comprising a main shaft, a driving wheel, a follower wheel, a fixing part, a first driving rope wire reel, a first decoupling rope wire reel, a second driving rope wire reel, a second decoupling rope wire reel, a driving rope guide wheel and a decoupling rope guide wheel; the driving wheel, the follower wheel, the fixing part, the first driving rope wire reel, the first decoupling rope wire reel, the second driving rope wire reel and the second decoupling rope wire reel are respectively connected to the main shaft, and the driving rope guide wheel and the decoupling rope guide wheel are arranged on the follower wheel; the first driving rope wire reel and the first decoupling rope wire reel are connected to the driving wheel through a first connecting part, and the second driving rope wire reel and the second decoupling rope wire reel are connected to the fixing part through a second connecting part.

[0005] According to certain embodiments of the first aspect of the present invention, the driving wheel is driven by a torque difference generated by a plurality of driving lines.

[0006] According to some embodiments of the first aspect of the present invention, the driving line includes an opening and closing line and a contraction line, and the opening and closing line and the contraction line are respectively located on two sides of the driving wheel.

[0007] According to some embodiments of the first aspect of the present invention, the opening and closing wire and the contraction wire are wound around a driver, and the winding directions of the opening and closing wire and the contraction wire on the driver are opposite.

[0008] According to some embodiments of the first aspect of the present invention, the decoupling mechanism further comprises a pulley assembly including a first pulley for guiding the drive rope and a second pulley for guiding the decoupling rope.

[0009] According to certain embodiments of the first aspect of the present invention, the drive rope is sequentially passed through the first drive rope wire drum, the drive rope guide wheel and the second drive rope wire drum.

[0010] According to some embodiments of the first aspect of the present invention, there are a plurality of the first drive rope wire drum and a plurality of the second drive rope wire drum, and the number of the first drive rope wire drum and the number of the second drive rope wire drum are the same.

[0011] According to certain embodiments of the first aspect of the present invention, the drive rope guide wheel includes a guide wheel shaft and a plurality of sub-guide wheels, and the plurality of sub-guide wheels are mounted on the guide wheel shaft and arranged in sequence along the guide wheel shaft.

[0012] According to certain embodiments of the first aspect of the present invention, the decoupling rope is sequentially passed through the first decoupling rope conductor drum, the decoupling rope guide wheel and the second decoupling rope conductor drum.

[0013] An embodiment of the second aspect of the present invention is a robotic arm provided with the multi-joint passive decoupling mechanism of the rope-driven agile robotic arm as described above.

[0014] The beneficial effects of the present invention include: realizing a rotary joint decoupling structure, simplifying the structure, thereby reducing the size and cost of the decoupling mechanism, and being able to complete the structure of a multi-joint rope to meet the dexterity requirements of an agile robotic arm.

[0015] In addition, additional aspects and advantages of the present invention will be set forth in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural diagram of the multi-joint passive decoupling mechanism of a rope-driven agile manipulator;

[0017] Figure 2 It is a structural diagram of the driving rope guide wheel, the decoupling rope guide wheel and the follower wheel;

[0018] Figure 3 is a schematic diagram of the winding of the drive rope;

[0019] Figure 4 is a schematic diagram of the winding of the decoupling rope.

[0020] Reference numerals:

[0021] 10 driving ropes; 20 decoupling ropes;

[0022] 100 main shaft; 111 first connecting member; 112 second connecting member; 120 driving wheel; 130 follower wheel; 140 fixing member;

[0023] 210 first decoupling rope conductor drum; 220 second decoupling rope conductor drum;

[0024] 310: first drive rope wire drum; 320: second drive rope wire drum;

[0025] 400 decoupling rope guide wheel;

[0026] 500 driving rope guide wheel; 510 sub-guide wheel; 520 guide wheel shaft;

[0027] 600 pulley block. DETAILED DESCRIPTION

[0028] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other unless there is a conflict.

[0029] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, terms such as "upper," "lower," "left," "right," "top," and "bottom" used in this disclosure are intended solely to describe the relative positions of the components of the disclosure as shown in the accompanying drawings.

[0030] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any combination of one or more of the related listed items.

[0031] It should be understood that although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element without departing from the scope of the present disclosure.

[0032] The embodiments of the present application are further described below with reference to the accompanying drawings.

[0033] An embodiment of the present invention provides a multi-joint passive decoupling mechanism for a rope-driven agile robotic arm.

[0034] Reference Figure 1 The multi-joint passive decoupling mechanism of a rope-driven agile robotic arm includes a main shaft 100, a driving wheel 120, a follower wheel 130, a fixing part 140, a first driving rope wire drum 310, a first decoupling rope wire drum 210, a second driving rope wire drum 320, a second decoupling rope wire drum 220, a driving rope guide wheel 500 and a decoupling rope guide wheel 400.

[0035] Among them, the driving wheel 120, the follower wheel 130, the fixing part 140, the first driving rope wire drum 310, the first decoupling rope wire drum 210, the second driving rope wire drum 320 and the second decoupling rope wire drum 220 are respectively connected to the main shaft 100, and the driving rope guide wheel 500 and the decoupling rope guide wheel 400 are arranged on the follower wheel 130; the first driving rope wire drum 310 and the first decoupling rope wire drum 210 are connected to the driving wheel 120 through the first connecting part 111, and the second driving rope wire drum 320 and the second decoupling rope wire drum 220 are connected to the fixing part 140 through the second connecting part 112.

[0036] The driving rope guide wheel 500 and the decoupling rope guide wheel 400 are arranged on the follower wheel 130; then the driving rope guide wheel 500 and the decoupling rope guide wheel 400 will rotate together with the follower wheel 130, and the driving rope guide wheel 500 and the decoupling rope guide wheel 400 have the same rotation speed as the follower wheel 130.

[0037] The first drive rope reel 310 and the first decoupling rope reel 210 are connected to the driving pulley 120 via a first connector 111. The first connector 111 is a cylindrical pin, and the first drive rope reel 310 and the first decoupling rope reel 210 are connected to the driving pulley 120 via the cylindrical pin. Consequently, the first drive rope reel 310 and the first decoupling rope reel 210 rotate along with the driving pulley 120, and the first drive rope reel 310 and the first decoupling rope reel 210 rotate at the same speed as the driving pulley 120.

[0038] The second drive rope wire drum 320 and the second decoupling rope wire drum 220 are connected to the fixing member 140 via the second connecting member 112. The second connecting member 112 is a cylindrical pin, and the second drive rope wire drum 320 and the second decoupling rope wire drum 220 are connected to the fixing member 140 via the cylindrical pin. Because the fixing member 140 is fixed, the second drive rope wire drum 320 and the second decoupling rope wire drum 220 do not rotate.

[0039] A first driving rope wire drum 310 and a first decoupling rope wire drum 210 are provided on one side of the follower wheel 130 , and a second driving rope wire drum 320 and a second decoupling rope wire drum 220 are provided on the other side of the follower wheel 130 .

[0040] The number of the first drive rope wire reel 310, the first decoupling rope wire reel 210, the second drive rope wire reel 320, and the second decoupling rope wire reel 220 can all be multiple. The number of the first drive rope wire reel 310 and the second drive rope wire reel 320 is the same, and the number of the first decoupling rope wire reel 210 and the second decoupling rope wire reel 220 is the same. The number of the first drive rope wire reel 310, the first decoupling rope wire reel 210, the second drive rope wire reel 320, and the second decoupling rope wire reel 220 is set according to actual production requirements. For example, there may be six first drive rope wire reels 310, one first decoupling rope wire reel 210, six second drive rope wire reels 320, and one second decoupling rope wire reel 220.

[0041] The first drive rope wire reel 310, the first decoupling rope wire reel 210, the second drive rope wire reel 320, and the second decoupling rope wire reel 220 are symmetrically arranged about the follower disk. For example, one first decoupling rope wire reel 210 on one side and one second decoupling rope wire reel 220 on the other side are located near the follower disk; the six first drive rope wire reels 310 on one side are located between the first decoupling rope wire reel 210 and the driving disk, and the six first drive rope wire reels 310 on the other side are located between the second decoupling rope wire reel 220 and the fixed member 140.

[0042] Reference Figure 2 The driving rope guide wheel 500 includes a guide wheel shaft 520 and a plurality of sub-guide wheels 510. The plurality of sub-guide wheels 510 are mounted on the guide wheel shaft 520 and are sequentially arranged along the guide wheel shaft 520. For example, there are 6 sub-guide wheels 510.

[0043] The driving rope guide wheel 500 is provided with a rope anti-falling mechanism to ensure that the driving rope 10 will not fall off during the movement process.

[0044] The diameter of the first drive rope wire drum 310 gradually increases with the distance away from the follower disk, the diameter of the second drive rope wire drum 320 gradually increases with the distance away from the follower disk, and the diameter of the sub-guide wheel 510 gradually increases with the distance away from the follower disk.

[0045] The decoupling mechanism further comprises a pulley block 600 comprising a first pulley for guiding the drive rope 10 and a second pulley for guiding the decoupling rope 20 .

[0046] The pulley assembly 600 is disposed on the driving wheel 120. The driving rope 10 is guided to the first driving rope wire drum 310 through the first pulley, and the decoupling rope 20 is guided to the first decoupling rope wire drum 210 through the second pulley.

[0047] The driving wheel 120 is driven by the torque difference generated by the driving line. The driving line includes an opening and closing line and a contraction line, and the opening and closing line and the contraction line are respectively located on both sides of the driving wheel 120.

[0048] The opening and closing wires are driven by the opening and closing wire unit, while the retraction wires are driven by the retraction wire unit. The opening and closing wire unit includes a driver, pulleys, and chutes; the retraction wire unit also includes a driver, pulleys, and chutes. The pulleys and chutes serve as guides. The opening and closing wires are wound around the opening and closing wire unit's driver, while the retraction wires are wound around the retraction wire unit's driver. The winding directions of the opening and closing wires on the driver are opposite to each other.

[0049] Specifically, the driver is a servo motor.

[0050] The contraction line and the opening and closing line are wound in opposite directions. When the servo motor rotates, the opening and closing line unit pulls the opening and closing line, and the contraction line unit pulls the contraction line. The opening and closing line and the contraction line produce opposite displacement changes to generate a torque difference in the driving wheel 120, and the driving wheel 120 is driven to rotate based on the torque difference.

[0051] Reference Figure 3 The driving rope 10 is sequentially passed through the first driving rope wire drum 310, the driving rope guide wheel 500 and the second driving rope wire drum 320.

[0052] From the direction of the follower wheel 130 to the direction of the driving wheel 120, there are the first first drive rope wire drum 310, the second first drive rope wire drum 310, the third first drive rope wire drum 310, the fourth first drive rope wire drum 310, the fifth first drive rope wire drum 310, and the sixth first drive rope wire drum 310.

[0053] From the direction of the follower wheel 130 to the direction of the fixed part 140, there are the first second drive rope wire drum 320, the second second drive rope wire drum 320, the third second drive rope wire drum 320, the fourth second drive rope wire drum 320, the fifth second drive rope wire drum 320, and the sixth second drive rope wire drum 320.

[0054] The driving rope guide wheel 500 includes 6 sub-guide wheels 510, which are the first sub-guide wheel, the second sub-guide wheel, the third sub-guide wheel, the fourth sub-guide wheel, the fifth sub-guide wheel, and the sixth sub-guide wheel from the direction close to the follower wheel 130 to the direction away from the follower wheel 130.

[0055] For the first group of two drive ropes 10, one drive rope 10 is wound around one side of the first drive rope wire drum 310, then around one side of the first sub-guide wheel, and then around one side of the first second drive rope wire drum 320. The other drive rope 10 is wound around the other side of the first first drive rope wire drum 310, then around the other side of the first sub-guide wheel, and then around the other side of the first second drive rope wire drum 320.

[0056] For the second group of two drive ropes 10, one drive rope 10 is wound around one side of the second first drive rope wire drum 310, then around one side of the second sub-guide wheel, and then around one side of the second second drive rope wire drum 320. The other drive rope 10 is wound around the other side of the second first drive rope wire drum 310, then around the other side of the second sub-guide wheel, and then around the other side of the second second drive rope wire drum 320.

[0057] For the third group of two drive ropes 10, one drive rope 10 is wound around one side of the third first drive rope wire drum 310, then around one side of the third sub-guide wheel, and then around one side of the third second drive rope wire drum 320. The other drive rope 10 is wound around the other side of the third first drive rope wire drum 310, then around the other side of the third sub-guide wheel, and then around the other side of the third second drive rope wire drum 320.

[0058] For the fourth group of two drive ropes 10, one drive rope 10 is wound around one side of the fourth first drive rope wire drum 310, then around one side of the fourth sub-guide wheel, and then around one side of the fourth second drive rope wire drum 320. The other drive rope 10 is wound around the other side of the fourth first drive rope wire drum 310, then around the other side of the fourth sub-guide wheel, and then around the other side of the fourth second drive rope wire drum 320.

[0059] For the fifth group of two drive ropes 10, one drive rope 10 is wound around one side of the fifth first drive rope wire drum 310, then around one side of the fifth sub-guide wheel, and then around one side of the fifth second drive rope wire drum 320. The other drive rope 10 is wound around the other side of the fifth first drive rope wire drum 310, then around the other side of the fifth sub-guide wheel, and then around the other side of the fifth second drive rope wire drum 320.

[0060] For the six groups of two drive ropes 10, one drive rope 10 is wound around one side of the sixth first drive rope wire drum 310, then around one side of the sixth sub-guide wheel, and then around one side of the sixth second drive rope wire drum 320. The other drive rope 10 is wound around the other side of the sixth first drive rope wire drum 310, then around the other side of the sixth sub-guide wheel, and then around the other side of the sixth second drive rope wire drum 320.

[0061] Reference Figure 4 The decoupling rope 20 is sequentially passed through the first decoupling rope wire drum 210, the decoupling rope guide wheel 400 and the second decoupling rope wire drum 220.

[0062] There are two decoupling ropes 20. One decoupling rope 20 is wound around one side of the first decoupling rope reel 210, then around one side of the decoupling rope guide wheel 400, and then around one side of the second decoupling rope reel 220. The other decoupling rope 20 is wound around the other side of the first decoupling rope reel 210, then around the other side of the decoupling rope guide wheel 400, and then around the other side of the second decoupling rope reel 220. Thus, the two decoupling ropes 20 are respectively wound around both sides of the first decoupling rope reel 210, then around both sides of the decoupling rope guide wheel 400, and then around both sides of the second decoupling rope reel 220.

[0063] The fixing member 140 does not rotate during the movement of the decoupling mechanism, and plays the role of fixing the decoupling rope 20 and ensuring that the position of the rope outlet of the driving rope 10 remains unchanged, which facilitates subsequent rope walking.

[0064] The decoupling process of the decoupling mechanism is as follows:

[0065] The servo motor of the opening and closing line unit rotates, pulling the opening and closing line. The servo motor of the retraction line unit rotates, pulling the retraction line. The opening and retraction lines produce opposite displacement changes, generating a torque difference on the driving pulley 120. This torque difference drives the driving pulley 120 to rotate at a speed w. Under the action of the first connector 111, the first drive rope reel 310 and the first decoupling rope reel 210 rotate along with the driving pulley 120, also rotating at a speed w. Each decoupling rope 20 rotates half a turn around the first decoupling rope reel 210 and half a turn around the decoupling rope guide pulley 400. The decoupling rope guide pulley 400 is mounted on the follower pulley 130. Due to the action of the decoupling rope 20, the follower pulley 130 rotates at a speed w / 2. The drive retractable guide pulley is mounted on the follower pulley 130 and rotates along with the follower pulley 130 at a speed w / 2. The fixing member 140 is fixed and connected to the second drive rope wire drum 320 and the second decoupling rope wire drum 220 via the second connecting member 112. Therefore, the second drive rope wire drum 320 and the second decoupling rope wire drum 220 do not rotate. The decoupling mechanism realizes decoupling of the drive rope 10 in the rotation direction.

[0066] The decoupling mechanism realizes the decoupling structure of the rotary joint, simplifies the structure, and thereby reduces the size and cost of the decoupling mechanism. It can complete the structure of the multi-joint rope and meet the dexterity requirements of the agile robotic arm.

[0067] Another embodiment of the present invention provides a robotic arm.

[0068] The robotic arm is equipped with the aforementioned multi-joint passive decoupling mechanism for a rope-driven agile robotic arm. This decoupling mechanism decouples the drive rope 10. This achieves a rotary joint decoupling structure, simplifies the decoupling mechanism, and reduces its size and cost. It also enables the multi-joint rope structure to meet the dexterity requirements of the agile robotic arm.

[0069] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the aforementioned embodiments. As long as the technical effects of the present invention are achieved by the same means, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure. Within the scope of protection of the present invention, its technical solutions and / or implementation methods may be modified and varied in various ways.

Claims

1. A multi-joint passive decoupling mechanism for a rope-driven agile manipulator, characterized in that: The invention comprises a main shaft (100), a driving wheel (120), a follower wheel (130), a fixing member (140), a first driving rope wire drum (310), a first decoupling rope wire drum (210), a second driving rope wire drum (320), a second decoupling rope wire drum (220), a driving rope guide wheel (500) and a decoupling rope guide wheel (400); the driving wheel (120), the follower wheel (130), the fixing member (140), the first driving rope wire drum (310), the first decoupling rope wire drum (210), the second driving rope wire drum (320), the second decoupling rope wire drum (220), the driving rope guide wheel (500) and the decoupling rope guide wheel (400); The disc (320) and the second decoupling rope wire disc (220) are respectively connected to the main shaft (100), and the driving rope guide wheel (500) and the decoupling rope guide wheel (400) are arranged on the follower wheel (130); the first driving rope wire disc (310) and the first decoupling rope wire disc (210) are connected to the driving wheel (120) through a first connecting member (111), and the second driving rope wire disc (320) and the second decoupling rope wire disc (220) are connected to the fixing member (140) through a second connecting member (112); Also included is a pulley assembly (600), the pulley assembly (600) including a first pulley for guiding the drive rope (10) and a second pulley for guiding the decoupling rope (20); The driving rope (10) is sequentially passed through the first driving rope wire drum (310), the driving rope guide wheel (500), and the second driving rope wire drum (320); The decoupling rope (20) is sequentially passed through the first decoupling rope conductor drum (210), the decoupling rope guide wheel (400), and the second decoupling rope conductor drum (220).

2. The multi-joint passive decoupling mechanism of a rope-driven agile manipulator according to claim 1, characterized in that: The driving wheel (120) is driven by the torque difference generated by a plurality of driving lines.

3. The multi-joint passive decoupling mechanism of a rope-driven agile manipulator according to claim 2, characterized in that: The driving line comprises an opening and closing line and a contraction line, and the opening and closing line and the contraction line are respectively located on both sides of the driving wheel (120).

4. The multi-joint passive decoupling mechanism of a rope-driven agile manipulator according to claim 3, characterized in that: The opening and closing wire and the contraction wire are wound around a driver, and the winding directions of the opening and closing wire and the contraction wire on the driver are opposite.

5. The multi-joint passive decoupling mechanism of a rope-driven agile manipulator according to claim 1, characterized in that: There are multiple first drive rope wire drums (310) and multiple second drive rope wire drums (320), and the number of the first drive rope wire drums (310) and the number of the second drive rope wire drums (320) are the same.

6. The multi-joint passive decoupling mechanism of a rope-driven agile manipulator according to claim 1, characterized in that: The driving rope guide wheel (500) comprises a guide wheel shaft (520) and a plurality of sub-guide wheels (510), wherein the plurality of sub-guide wheels (510) are mounted on the guide wheel shaft (520) and are sequentially arranged along the guide wheel shaft (520).

7. A robotic arm, characterized in that: The robotic arm is provided with a multi-joint passive decoupling mechanism of a rope-driven agile robotic arm as described in any one of claims 1 to 6.

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