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CN-117754625-B - Rope-driven three-degree-of-freedom high-rigidity spherical wrist joint

CN117754625BCN 117754625 BCN117754625 BCN 117754625BCN-117754625-B

Abstract

The invention relates to a rope-driven three-degree-of-freedom high-rigidity spherical wrist joint which comprises a base, a wrist platform, a plurality of connecting rod groups and a winding shaft, wherein the connecting rod groups are arranged around the wrist platform, one end of each connecting rod group is connected with the wrist platform, each connecting rod group comprises a plurality of connecting rod pieces which are sequentially connected, the winding shaft is arranged on the base, the other end of each connecting rod group is connected with the winding shaft, the winding shaft is driven to rotate by torque difference generated by a driving wire wound on the winding shaft, the winding shaft drives the wrist platform to rotate through the connecting rod groups, power can be transmitted from a far place by adopting rope driving, the overall size of a wrist structure is kept miniaturized, and the sensitivity and safety of an agile mechanical arm are realized.

Inventors

  • YAN LEI
  • LI ZHEN
  • LIANG BIN
  • WANG XUEQIAN
  • XU WENFU

Assignees

  • 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院)

Dates

Publication Date
20260512
Application Date
20240116

Claims (10)

  1. 1. A rope-driven three-degree-of-freedom high-rigidity spherical wrist joint, comprising: a base (100); A wrist platform (200); The plurality of connecting rod groups (300), the plurality of connecting rod groups (300) are arranged around the wrist platform (200), one end of each connecting rod group (300) is connected with the wrist platform (200), and each connecting rod group (300) comprises a plurality of connecting rod pieces which are connected in sequence; a spool (400), wherein the spool (400) is mounted on the base (100), and the other end of the connecting rod group (300) is connected with the spool (400); the winding shaft (400) is driven to rotate by torque difference generated by a driving wire wound on the winding shaft (400), and the winding shaft (400) drives the wrist platform (200) to rotate through the connecting rod group (300); wherein the driving wire comprises an opening and closing wire and a contraction wire, and the opening and closing wire and the contraction wire are wound on the winding shaft (400); The opening and closing wire and the shrinkage wire are wound on the driver, and the winding directions of the opening and closing wire and the shrinkage wire on the driver are opposite.
  2. 2. A three degree of freedom, high stiffness spherical wrist joint as claimed in claim 1 wherein the wrist platform (200) is connected to the base (100) by a universal joint (600).
  3. 3. The three degree of freedom, high stiffness, spherical wrist joint of claim 2 wherein the wrist platform (200) includes a first end face (210) and a second end face (220), the second end face (220) being connected to the gimbal (600), the first end face (210) being smaller than the second end face (220), an angled rod connection face (230) being provided between the first end face (210) and the second end face (220).
  4. 4. A three degree of freedom high stiffness spherical wrist joint as claimed in claim 3 wherein the plurality of link members comprises a first link member (310), a second link member (320) and a third link member (330), one end of the first link member (310) is pivotally connected to the link connection surface (230), the other end of the first link member (310) is pivotally connected to one end of the second link member (320), the other end of the second link member (320) is pivotally connected to one end of the third link member (330), and the other end of the third link member (330) is connected to the spool (400).
  5. 5. A three degree of freedom, high stiffness ball and socket joint as claimed in claim 1 wherein the base (100) is fitted with a pulley block (500), the pulley block (500) being used to guide the drive wire from the driver to the spool (400).
  6. 6. The three degree of freedom, high stiffness ball and socket joint of claim 5 wherein the pulley block (500) includes a first pulley (510) and a second pulley (520), the first pulley (510) for guiding the opening and closing wire from the driver to the spool (400), the second pulley (520) for guiding the contraction wire from the driver to the spool (400).
  7. 7. The three degree of freedom, high stiffness spherical wrist joint as claimed in claim 1 wherein the number of said groupings (300) is three and the angle between two adjacent groupings (300) is 120 degrees.
  8. 8. The three degree of freedom high stiffness spherical wrist joint as claimed in claim 7 wherein said wrist platform (200) is driven by three of said linkages (300) to pitch, yaw and roll, wherein the pitch and yaw degrees of freedom range is ±60 degrees and the roll degrees of freedom range is ±180 degrees.
  9. 9. The three degree of freedom high stiffness spherical wrist joint as claimed in claim 4, wherein each spool (400) corresponds to each link assembly (300) one by one, the first structural plate (110) of the base (100) is provided with a shaft mounting member (410), the output shaft of the spool (400) passes through the shaft mounting member (410) and is connected with the third link member (330), the second structural plate (120) of the base (100) is provided with a bearing bracket (420), one end of the bearing bracket (420) is connected with the second structural plate (120), the other end of the bearing bracket (420) is connected with the tail of the spool (400) in a shaft connection manner, the bearing bracket (420) plays a role of supporting the spool (400), and the shaft mounting member (410) and the bearing bracket (420) jointly clamp the spool (400) so that the spool (400) is stably mounted.
  10. 10. A robotic arm provided with a three degree of freedom, rope-driven, high stiffness spherical wrist joint according to any one of claims 1 to 9.

Description

Rope-driven three-degree-of-freedom high-rigidity spherical wrist joint Technical Field The invention belongs to the field of mechanical arms, and particularly relates to a rope-driven three-degree-of-freedom high-rigidity spherical wrist joint. Background The wrist of the mechanical arm has various types, different principles and structures, and expands the functions of the mechanical arm, so that the mechanical arm can adapt to different working requirements. In order to complete more complex and fine operation tasks, and meanwhile, in order to simulate people more, the wrist of the mechanical arm is developed towards the parallel connection, compact structure and simple principle. At present, the wrist of the mechanical arm is mainly driven by traditional mechanical driving, pneumatic driving and the like, but the problems of the increase of the overall size of the wrist and the increase of the inertia of the mechanical arm still occur, which hinders the realization of the dexterity and the safety of the agile mechanical arm. Disclosure of Invention The invention aims to at least solve one of the technical problems in the prior art, and provides the rope-driven three-degree-of-freedom high-rigidity spherical wrist joint which is beneficial to realizing the dexterity and the safety of a mechanical arm. An embodiment of a first aspect of the present invention provides a three degree of freedom, high stiffness, spherical wrist joint, comprising: A base; A wrist platform; The plurality of connecting rod groups are arranged around the wrist platform, one end of each connecting rod group is connected with the wrist platform, and each connecting rod group comprises a plurality of connecting rod pieces which are sequentially connected; The winding shaft is arranged on the base, and the other end of the connecting rod group is connected with the winding shaft; The winding shaft is driven to rotate by torque difference generated by a driving wire wound on the winding shaft, and the winding shaft drives the wrist platform to rotate through the connecting rod group. According to an embodiment of the first aspect of the invention, the wrist platform is connected to the base by a gimbal. According to an embodiment of the first aspect of the invention, the wrist platform comprises a first end face and a second end face, the second end face being connected with the gimbal, the first end face being smaller than the second end face, an inclined rod connection face being provided between the first end face and the second end face. According to an embodiment of the first aspect of the present invention, the plurality of link members includes a first link member, a second link member, and a third link member, one end of the first link member is coupled with the link coupling surface, the other end of the first link member is coupled with one end of the second link member, the other end of the second link member is coupled with one end of the third link member, and the other end of the third link member is coupled with the spool. According to an embodiment of the first aspect of the present invention, the driving wire includes an opening and closing wire and a shrink wire wound around the winding shaft. According to an embodiment of the first aspect of the present invention, the opening and closing wire and the shrink wire are wound around the actuator, and winding directions of the opening and closing wire and the shrink wire on the actuator are opposite. According to an embodiment of the first aspect of the invention, the base is fitted with a pulley block for guiding the drive line from the drive to the spool. According to an embodiment of the first aspect of the present invention, the pulley block includes a first pulley for guiding the opening and closing wire from the driver to the spool, and a second pulley for guiding the contraction wire from the driver to the spool. According to an embodiment of the first aspect of the present invention, the number of the linkage groups is three, and the angle between two adjacent linkage groups is 120 degrees. An embodiment of the second aspect of the invention, a robotic arm, is provided with a three degree of freedom, rope-driven, high stiffness spherical wrist joint as described above. The invention has the beneficial effects that the working parameters of each servo motor can be obtained according to the rotation angle of the wrist platform. The servo motor works according to working parameters, because the opening and closing wire and the winding direction of the shrinkage wire on the driver are opposite, the opening and closing wire and the shrinkage wire are subjected to opposite displacement and are transmitted to the winding shaft through the pulley block, the winding shaft is correspondingly rotated, the winding shaft drives the connecting rod groups to rotate, and the wrist platform rotates under the driving of the three connecting rod groups. The power can be transmitte