Rope-driven joint flexible mechanical arm measurement experiment platform

Abstract

The invention relates to a rope-driven joint flexible mechanical arm measurement experiment platform which comprises a workbench, a controller fixedly connected to the top of the workbench, a first fixing plate and a second fixing plate fixed to the top of the workbench, a datum plate fixed to the side edge of the rear end of the second fixing plate, a threaded hole formed in the first fixing plate, and a welding block connected to the first fixing plate. A second electric telescopic rod is fixed to the front side of the welding block, a tension sensor is fixedly connected to the front end of the second electric telescopic rod, a connecting fixing clamp is fixed to the front end of the tension sensor, a first wiring disc assembly is connected to the second fixing plate through a circular hole bolt, and a connecting rod is movably connected to the first wiring disc assembly; the connecting rod is movably connected with a second wiring disc assembly, the second wiring disc assembly is fixedly connected with one end of a driving rope, and the fixing clamp clamps the other end of the driving rope. According to the invention, the motion posture and the deflection angle of the mechanical arm joint as well as the corresponding length and tension data of the driving rope can be obtained through testing.

Description

Technical Field

[0001] The invention relates to the technical field of experimental measurement, in particular to a rope-driven joint flexible mechanical arm measurement experimental platform. Background Art

[0002] The rope-driven joint flexible robotic arm refers to a complex system with high precision, multi-input and multi-output, high nonlinearity and strong coupling. It is widely used due to its unique operational flexibility. The rope-driven joint flexible robotic arm has a multi-segment structure, and each segment is connected by a rope-driven mechanical joint. It has flexible characteristics as a whole, excellent bending performance, and can adapt to a variety of harsh working conditions.

[0003] Some existing rope-driven joint flexible robotic arms have some problems during use: due to the flexibility of the driving ropes, the large number of mechanical joints, and the great influence of the friction between the ropes and the joints on the adjustment of the mechanical joints, the movement of the robotic arm is difficult to accurately calculate using the existing mathematical model, and the relationship between the position changes of each joint and the length of the driving rope is difficult to determine. Summary of the invention

[0004] The purpose of the present invention is to provide a rope-driven joint flexible robotic arm measurement experimental platform, which can solve the problem that the movement of the robotic arm is difficult to accurately calculate using existing mathematical models, and the relationship between the position change of each joint and the length of the driving rope is difficult to determine due to the flexibility of the driving rope, the large number of mechanical joints, and the friction between the rope and the joints having a great influence on the adjustment of the mechanical joints.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A rope-driven joint flexible mechanical arm measurement experimental platform, comprising a workbench and a controller, characterized in that: the top of the workbench is fixedly connected to the controller, a first fixing plate and a second fixing plate are fixed to the top of the workbench, a reference plate is fixed to the rear end side of the second fixing plate, a positioning point is provided on the inner side of the reference plate, the first fixing plate is provided with a threaded hole, the first fixing plate is bolted with a welding block through the threaded hole, a second electric telescopic rod is fixed to the front side of the welding block, a tension sensor is fixedly connected to the front end of the second electric telescopic rod, a connecting fixing clamp is fixed to the front end of the tension sensor, a snap-fit ​​groove and a circular hole are provided on the second fixing plate, the second fixing plate is bolted with a first wiring disk assembly through a circular hole, the first wiring disk assembly is movably connected to a connecting rod, the connecting rod is movably connected to a second wiring disk assembly, one end of a driving rope is fixedly connected to the second wiring disk assembly, and the fixing clamp clamps the other end of the driving rope.

[0006] Furthermore, the top of the workbench is fixedly connected to a first electric telescopic rod, the top of the first electric telescopic rod is fixedly connected to a connecting plate, and the right side of the connecting plate is fixedly connected to a camera.

[0007] Furthermore, the workbench is horizontally distributed, the controller is electrically connected to the first electric telescopic rod, the camera, the second electric telescopic rod, and the tension sensor respectively, the first fixed plate, the second fixed plate and the reference plate are all vertically distributed, and the positioning points are equidistantly distributed.

[0008] Furthermore, there are multiple groups of threaded holes, each group of threaded holes has four, and there are three welding blocks and three second electric telescopic rods. The welding blocks are rectangular metal blocks, and the second electric telescopic rods are horizontally distributed in the front-to-back direction.

[0009] Furthermore, there are three tension sensors and three fixing clamps, the engaging grooves are circular grooves, there are multiple circular holes, there are two connecting rods, and there are three driving ropes.

[0010] Furthermore, the first wiring disk assembly includes a first large circular disk and a first small circular disk, the first large circular disk is provided with a first square opening, the first small circular disk is fixed to the rear side of the first large circular disk, the first counterweight is fixed to the rear side of the first small circular disk, and a first fixing rod is fixed to the front side of the first small circular disk, the first fixing rod extends out of the first square opening and is movably connected to the connecting rod.

[0011] Furthermore, the second wiring disc assembly includes a second large circular disc and a second small circular disc, the second large circular disc is provided with a second square opening, the second small circular disc is fixed to the front side of the second large circular disc, the second counterweight is fixed to the rear side of the second small circular disc, the second fixing rod is fixed to the rear side of the second small circular disc, the second fixing rod extends out of the second square opening and is movably connected to the connecting rod.

[0012] Furthermore, the first fixing rod and the second fixing rod are both movably connected to the connecting rod via a spherical joint.

[0013] The beneficial effects of the present invention are as follows: by setting up a second electric telescopic rod, a tension sensor and a fixing clamp, the motion posture and deflection angle of the mechanical arm joint, as well as the length and tension data corresponding to the driving rope can be obtained through testing. Only multiple experiments are required to obtain multiple sets of test data, and then model error compensation and model correction are performed to obtain the relationship between the position change of each joint and the length of the driving rope. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 This is a schematic diagram of the installation structure of the fixing clip of the present invention;

[0016] Figure 3 This is a schematic diagram of the rope installation structure of the present invention;

[0017] Figure 4 For the present invention Figure 1 A schematic diagram of the structure at A;

[0018] Figure 5 For the present invention Figure 2 Schematic diagram of the structure at B;

[0019] Figure 6 For the present invention Figure 2 Schematic diagram of the structure at C;

[0020] Figure 7 It is a schematic structural diagram of the first wiring disc assembly and the second wiring disc assembly of the present invention;

[0021] Figure 8 It is a schematic diagram of the structure of the first fixing rod and the second fixing rod connected to the connecting rod of the present invention;

[0022] Fig. 9 The schematic diagram of the first wiring disk assembly and the second wiring disk assembly when measuring the joint of the robot arm. Among them: 1, workbench; 2, controller; 3, first fixed plate; 4, second fixed plate; 5, reference plate; 6, positioning point; 7, first electric telescopic rod; 8, connecting plate; 9, camera; 10, threaded hole; 11, welding block; 12, second electric telescopic rod; 13, tension sensor; 14, fixing clamp; 15, snap-fit ​​groove; 16, circular hole; 17, first wiring disk assembly; 171, first large circular disk, 172, first small circular disk, 173, first square opening, 174, first fixing rod, 175, first counterweight, 18, connecting rod; 19, second wiring disk assembly; 191, second large circular disk, 192, second small circular disk, 193, second fixing rod, 194, second counterweight, 20, driving rope, 21, robot arm fixing plate, 22, robot arm. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] See also Figures 1 to 9The present invention provides an embodiment: a rope-driven joint flexible manipulator measurement experimental platform, comprising a workbench 1 and a controller 2, characterized in that: the top of the workbench 1 is fixedly connected to the controller 2, a first fixing plate 3 and a second fixing plate 4 are fixed to the top of the workbench 1, a reference plate 5 is fixed to the rear end side of the second fixing plate 4, a positioning point 6 is provided on the inner side of the reference plate 5, the first fixing plate 3 is provided with a threaded hole 10, the first fixing plate 3 is bolted to a welding block 11 through the threaded hole 10, a second electric telescopic rod 12 is fixed to the front side of the welding block 11, and the second electric telescopic rod 12 is fixed to the front side of the welding block 11. The front end of the second electric telescopic rod 12 is fixedly connected with a tension sensor 13, and the front end of the tension sensor 13 is fixed with a connection fixing clamp 14. The second fixing plate 4 is provided with a snap-fitting groove 15 and a circular hole 16. The second fixing plate 4 is bolted with a first wiring disk assembly 17 through the circular hole 16. The first wiring disk assembly 17 is movably connected with a connecting rod 18, and the connecting rod 18 is movably connected with a second wiring disk assembly 19. One end of a driving rope 20 is fixedly connected to the second wiring disk assembly 19, and the fixing clamp 14 clamps the other end of the driving rope 20. The positioning point 6 is used to determine the projection position of the mechanical arm 22 on the reference plate 5. The deflection angle of the mechanical arm 22 can be obtained through the positioning point 6. By controlling the second electric telescopic rod 12 to extend to different lengths, the tension sensor 13 can provide different tensions to the driving rope 20. By fixing the joint of the mechanical arm on the second fixed plate 4 and controlling the three second electric telescopic rods 1212 to extend to different lengths through the controller 2, the three driving ropes 20 can be driven to move, and the connecting rod 18 and the second wiring disk assembly 19 can be deflected, so that the posture of the mechanical arm 22 can be adjusted. It is only necessary to determine the extended length of the three second electric telescopic rods 12 to make the mechanical arm 22 maintain a corresponding posture. The three tension sensors 13 respectively record the tension borne by the three driving ropes 20. The deflection angle of the mechanical arm 22 can be obtained through the projection position of the mechanical arm 22 on the reference plate 5, and the movement posture and deflection angle of the joint of the mechanical arm 22, as well as the corresponding length and tension data of the driving rope 20 can be obtained.

[0025] Please continue reading Figure 1 , Figure 4 As shown, in one embodiment of the present invention, the top of the workbench 1 is fixedly connected to a first electric telescopic rod 7, the top of the first electric telescopic rod 7 is fixedly connected to a connecting plate 8, and the right side of the connecting plate 8 is fixedly connected to a camera 9. The projection position of the robot arm 22 on the reference plate 5 can be obtained by taking pictures with the camera 9, and the first electric telescopic rod 7 can adjust the height position of the camera 9.

[0026] Please continue reading Figure 1As shown, in one embodiment of the present invention, the workbench 1 is horizontally distributed, the controller 2 is electrically connected to the first electric telescopic rod 7, the camera 9, the second electric telescopic rod 12, and the tension sensor 13, respectively, the first fixed plate 3, the second fixed plate 4, and the reference plate 5 are vertically distributed, and the positioning points 6 are equidistantly distributed. The controller 2 is used to control the actions of the first electric telescopic rod 7, the camera 9, the second electric telescopic rod 12, and the tension sensor 13.

[0027] Please continue reading Figure 2 As shown, in one embodiment of the present invention, there are multiple groups of threaded holes 10, each group of threaded holes 10 has four, the welding block 11 and the second electric telescopic rod 12 each have three, the welding block 11 is a rectangular metal block, and the second electric telescopic rod 12 is horizontally distributed in the front-to-back direction. The four threaded holes 10 can firmly fix the welding block 11 on the first fixing plate 3, and the four threaded holes 10 are opposite to the positions of the bolts on the rectangular metal block, so as to fix the rectangular metal block.

[0028] Please continue reading Figure 3 As shown, in one embodiment of the present invention, there are three tension sensors 13 and three fixing clips 14, the engaging grooves 15 are circular grooves, there are multiple circular holes 16, there are two connecting rods 18, and there are three driving ropes 20. The circular holes 16 are used to guide and fix the position of the driving ropes 20. By controlling the movement of the three driving ropes 20, the connecting rod 18 and the second wiring disk assembly 19 can be deflected, so that the posture of the robot arm 22 can be adjusted.

[0029] Please continue reading Figure 3 , Figure 7 As shown, in one embodiment of the present invention, the first wiring disk assembly 17 includes a first large circular disk 171 and a first small circular disk 172. The first large circular disk 171 is provided with a first square opening 173. The first small circular disk 172 is fixed to the rear side of the first large circular disk 171. The first counterweight 175 is fixed to the rear side of the first small circular disk 172. The first fixing rod 174 is fixed to the front side of the first small circular disk 172. The first fixing rod 174 extends out of the first square opening 173 and is movably connected to the connecting rod 18. The first large circular disk 171 is used to fix the first small circular disk 172, the first small circular disk is used to fix the first fixing rod 174, and the first counterweight 175 is used to increase the weight so that the overall system can be stable during operation.

[0030] Please continue reading Figure 3 , Figure 7As shown, in one embodiment of the present invention, the second wiring disk assembly 19 includes a second large circular disk 191 and a second small circular disk 192. The second large circular disk 191 is provided with a second square opening. The second small circular disk 192 is fixed to the front side of the second large circular disk 191. The second counterweight 194 is fixed to the rear side of the second small circular disk 192. The second fixing rod 193 is fixed to the rear side of the second small circular disk 192. The second fixing rod 193 extends out of the second square opening and is movably connected to the connecting rod 18. The second large circular disk 191 is used to fix the second small circular disk 192, the second small circular disk is used to fix the second fixing rod 193, and the second counterweight 194 is used to increase the weight so that the overall system can be stable during operation.

[0031] Please continue reading Figure 8 As shown, in one embodiment of the present invention, the first fixing rod 174 and the second fixing rod 193 are both movably connected to the connecting rod 18 through a spherical joint. The first fixing rod 174 and the second fixing rod 193 are movably connected to the connecting rod 18 through a spherical joint, so that the second large circular disk 191 and the second small circular disk 192 in the second wiring disk assembly 19 can have any posture angle (two rotational degrees of freedom).

[0032] The present invention has the following working principle: before use, the power is turned on, the joint of the mechanical arm 22 is fixed to the second fixing plate 4 through the mechanical arm fixing plate 21, and the first wiring disk assembly 17 is clamped through the clamping groove 15, such as Fig. 9 As shown, the first wiring disc assembly 17 is fixed to the second fixing plate 4 by bolts, and the ends of the three driving ropes 20 are clamped by three fixing clamps 14 respectively, so that the mechanical arm 22 can be stably fixed. The height of the connecting plate 8 and the camera 9 can be adjusted by adjusting the extension length of the first electric telescopic rod 7 by the controller 2, so that the camera 9 is at a convenient height for taking pictures. The three second electric telescopic rods 12 are controlled by the controller 2 to extend to different lengths, so that the three driving ropes 20 can be driven to move, so that the connecting rod 18 and the second wiring disc assembly 19 are deflected, and the posture of the mechanical arm 22 can be adjusted. It is only necessary to determine the extension length of the three second electric telescopic rods 12. By protruding the length, the robot arm 22 can maintain the corresponding posture. At this time, the three tension sensors 13 can be used to record the tensions borne by the three driving ropes 20 respectively. At the same time, the camera 9 can be used to take pictures to obtain the projection position of the robot arm 22 on the reference plate 5. The deflection angle of the robot arm 22 can be obtained according to the positioning point 6, and the movement posture and deflection angle of the joint of the robot arm 22, as well as the length and tension data corresponding to the driving rope 20 can be obtained. It only takes multiple experiments to obtain multiple sets of test data, and then model error compensation and model correction are performed to obtain the relationship between the position change of each joint and the length of the driving rope 20.

[0033] In the prior art, since the rope of the rope-driven joint flexible robotic arm 22 is flexible, the number of mechanical joints is large, and the friction between the rope and the joints has a great influence on the adjustment of the mechanical joints, the movement of the robotic arm 22 is difficult to accurately calculate using the existing mathematical model, and the relationship between the position change of each joint and the length of the driving rope 20 is difficult to determine.

[0034] In this embodiment, the above workflow can be used to test the motion posture, deflection angle of the joints of the robotic arm 22, and the corresponding length and tension data of the driving rope 20. Only multiple experiments are required to obtain multiple sets of test data, and then model error compensation and model correction are performed to obtain the relationship between the position change of each joint and the length of the driving rope 20.

[0035] The above description is only a preferred embodiment of the present invention and should not be construed as limiting the present application. All equivalent changes and modifications made within the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A rope-driven joint flexible mechanical arm measurement experimental platform, characterized by: The utility model relates to a control panel, wherein the first fixing plate and the second fixing plate are fixedly provided on the top of the workbench, the rear end side edge of the second fixing plate is fixedly provided with a reference plate, the inner side of the reference plate is provided with a positioning point, the first fixing plate is provided with a threaded hole, the first fixing plate is connected with a welding block through the threaded hole bolts, the front side of the welding block is fixed with a second electric telescopic rod, the front end of the second electric telescopic rod is fixedly connected with a tension sensor, the front end of the tension sensor is fixed with a connecting fixing clamp, the second fixing plate is provided with a clamping groove and a circular hole, the second fixing plate is connected with a first wiring disk assembly through the circular hole bolts, the first wiring disk assembly is movably connected with a connecting rod, the connecting rod is movably connected with the second wiring disk assembly, one end of a driving rope is fixedly connected to the second wiring disk assembly, and the fixing clamp clamps the other end of the driving rope.

2. A rope-driven joint flexible manipulator measurement experimental platform according to claim 1, characterized in that: The top of the workbench is fixedly connected to a first electric telescopic rod, the top of the first electric telescopic rod is fixedly connected to a connecting plate, and the right side of the connecting plate is fixedly connected to a camera.

3. A rope-driven joint flexible mechanical arm measurement experimental platform according to claim 2, characterized in that: The workbench is horizontally distributed, the controller is electrically connected to the first electric telescopic rod, the camera, the second electric telescopic rod, and the tension sensor respectively, the first fixed plate, the second fixed plate, and the reference plate are all vertically distributed, and the positioning points are equidistantly distributed.

4. The rope-driven joint flexible mechanical arm measurement experimental platform according to claim 1 is characterized by: There are multiple groups of threaded holes, each group has four threaded holes, and there are three welding blocks and three second electric telescopic rods. The welding blocks are rectangular metal blocks, and the second electric telescopic rods are horizontally distributed in the front-to-back direction.

5. The rope-driven joint flexible mechanical arm measurement experimental platform according to claim 1 is characterized by: There are three tension sensors and three fixing clips, the engaging grooves are circular grooves, there are multiple circular holes, there are two connecting rods, and there are three driving ropes.

6. The rope-driven joint flexible mechanical arm measurement experimental platform according to claim 1 is characterized by: The first wiring disc assembly includes a first large circular disc and a first small circular disc, the first large circular disc is provided with a first square opening, the first small circular disc is fixed to the rear side of the first large circular disc, a first counterweight is fixed to the rear side of the first small circular disc, a first fixing rod is fixed to the front side of the first small circular disc, the first fixing rod extends out of the first square opening and is movably connected to the connecting rod.

7. The rope-driven joint flexible mechanical arm measurement experimental platform according to claim 6 is characterized by: The second wiring disc assembly includes a second large circular disc and a second small circular disc, the second large circular disc is provided with a second square opening, the second small circular disc is fixed to the front side of the second large circular disc, the second counterweight is fixed to the rear side of the second small circular disc, the second fixing rod is fixed to the rear side of the second small circular disc, the second fixing rod extends out of the second square opening and is movably connected to the connecting rod.

8. The rope-driven joint flexible mechanical arm measurement experimental platform according to claim 6 is characterized by: The first fixing rod and the second fixing rod are both movably connected to the connecting rod via a spherical joint.

Images