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CN-121973168-A - Multi-degree-of-freedom flexible grabbing robot based on tendon driving

CN121973168ACN 121973168 ACN121973168 ACN 121973168ACN-121973168-A

Abstract

The utility model provides a multi freedom flexible grabbing robot based on tendon drive, includes head support mounting bracket body, vertical slip controlling means, flexible universal bending subassembly of body and afterbody grabbing mechanism, head support mounting bracket body lateral part is provided with swing controlling means, the head support mounting bracket body is installed at vertical slip controlling means output through this swing controlling means, flexible universal bending subassembly of body connects the lower tip at the head support mounting bracket body, afterbody grabbing mechanism connects gradually the lower tip at flexible universal bending subassembly of body head support mounting bracket body upper end still installs two at least tendon rope rotary driving device. The invention has high degree of freedom of accurate control, simple design structure and control structure, single drive can control the movement in two directions, and the manufacturing cost is low.

Inventors

  • ZHOU WENBIN
  • WANG GANG
  • LIU CHANGYI
  • Wen Wentao

Assignees

  • 上海卓益得机器人有限公司

Dates

Publication Date
20260505
Application Date
20260305

Claims (10)

  1. 1. The multi-freedom-degree flexible grabbing robot based on tendon driving is characterized by comprising a head support mounting frame body (1), a vertical sliding control device (2), a body flexible universal bending component (3) and a tail grabbing mechanism (4), wherein a swing control mechanism (5) is arranged on the side part of the head support mounting frame body (1), the head support mounting frame body (1) is arranged at the output end of the vertical sliding control device (2) through the swing control mechanism (5), the body flexible universal bending component (3) is connected to the lower end part of the head support mounting frame body (1), the tail grabbing mechanism (4) is sequentially connected to the lower end part of the body flexible universal bending component (3), and at least two tendon rope rotary driving devices (6) are further arranged at the upper end part of the head support mounting frame body (1); The flexible universal bending assembly (3) at the body part comprises a supporting rod (31) capable of bending at the center and an annular disc joint group (32), the central part of the annular disc joint group (32) is fixedly arranged on the supporting rod (31) capable of bending at the center, at least four groups of tendon rope perforations (33) are formed in the edge part of the annular disc joint group (32), the four groups of tendon rope perforations (33) are located in four different directions, a reel (61) is arranged at the output end of the tendon rope rotation driving device (6), a tendon rope structure (62) is arranged in the reel (61), the middle part of the tendon rope structure (62) is wound on the reel (61), and two ends of the tendon rope structure (62) respectively penetrate through the tendon rope perforations (33) in two opposite directions to be fixedly connected to the bottom or the middle part of the annular disc joint group (32).
  2. 2. The tendon-driven multi-degree-of-freedom flexible grabbing robot as claimed in claim 1, wherein the annular disc section group (32) is composed of a plurality of annular disc sections, the annular disc sections are uniformly arranged at intervals on the center bendable supporting rod (31), and the outer diameters of all the annular disc sections are sequentially reduced and gradually arranged from top to bottom.
  3. 3. The tendon-driven multi-degree-of-freedom flexible grabbing robot as claimed in claim 1 or 2, wherein a compression spring set (7) is arranged between annular disc sections of the annular disc section set (32), and the compression spring set (7) is sleeved on the periphery of the center bendable supporting rod (31) and/or symmetrically arranged on two opposite side parts of the annular disc section.
  4. 4. The tendon-driven multi-degree-of-freedom flexible grabbing robot as claimed in claim 3, wherein the center bendable supporting rod (31) is a gooseneck or a soft copper rod, and the tendon rope rotation driving device (6) is a driving motor.
  5. 5. The flexible gripping robot with multiple degrees of freedom based on tendon driving according to claim 1,2 or 4, wherein the head support mounting frame body (1) is provided with a first tendon rope rotation driving device (601), a second tendon rope rotation driving device (602), a third tendon rope rotation driving device (603) and a fourth tendon rope rotation driving device (604) at its upper end, the first tendon rope rotation driving device (601), the second tendon rope rotation driving device (602), the third tendon rope rotation driving device (603) and the fourth tendon rope rotation driving device (604) are respectively provided with a first reel (611), a second reel (612), a third reel (613) and a fourth reel (614) at its output ends, the first reel (611), the second reel (612), the third reel (613) and the fourth reel (614) are respectively sleeved with a first rope structure (621), a second rope structure (622), a third rope structure (623) and a fourth rope structure (624), wherein the first rope structure (623) is connected to the endless rope through the upper end of the endless rope segment (32) at its upper end, two ends of the second tendon rope structure (622) respectively penetrate through tendon rope perforations (33) in the left-right direction from top to bottom and are fixedly connected to the bottommost annular disc section of the annular disc section group (32); The two ends of the third tendon rope structure (623) respectively penetrate through tendon rope perforation holes (33) in the front-back direction from top to bottom and are fixedly connected to the annular disc section in the right middle position of the annular disc section group (32), and the two ends of the fourth tendon rope structure (624) respectively penetrate through tendon rope perforation holes (33) in the left-right direction from top to bottom and are fixedly connected to the annular disc section in the right middle position of the annular disc section group (32).
  6. 6. The tendon-driving-based multi-degree-of-freedom flexible grabbing robot as claimed in claim 5, wherein the head support mounting frame body (1) comprises a support mounting framework (11), a driving mounting seat (12) and an outer decoration shell group (13), the outer decoration shell group (13) is mounted on four sides of the support mounting framework (11) in a covering manner, the driving mounting seat (12) is mounted on the top of the support mounting framework (11), and an annular disc section at the top of the annular disc section group (32) is fixedly mounted on the bottom of the support mounting framework (11); The drive mount pad (12) has four installation side, all is equipped with adjustable installation draw-in groove (14) on four installation side, and this adjustable installation draw-in groove (14) runs through drive mount pad (12) top, installs adjustable installation cardboard (15) in adjustable installation draw-in groove (14), and drive mount pad (12) are stretched out at this adjustable installation cardboard (15) top, and install the aperture group at adjustable installation cardboard (15) top for installation tendon rope rotary drive device (6), bar hole group has still been seted up to adjustable installation cardboard (15) middle lower part, all be equipped with pretension bolt (16) in the bar hole group, set up screw hole group in adjustable installation draw-in groove (14) bottom, this screw hole group is established in the corresponding position of bar hole group, pretension bolt (16) pass bar hole group and screw hole group cooperation, and set up at least one tensioning screw in adjustable installation draw-in groove (14) downside, be provided with tensioning bolt (17) in the tensioning screw, this tensioning bolt (17) is used in adjustable installation cardboard (15) downside.
  7. 7. The flexible grabbing robot with multiple degrees of freedom based on tendon driving according to claim 6, wherein the first tendon rope structure (621), the second tendon rope structure (622), the third tendon rope structure (623) and the fourth tendon rope structure (624) are composed of steel wire pull ropes and outer sheath pipes, the outer sheath pipes are sleeved on the steel wire pull ropes, the outer sheath pipes of the first tendon rope structure (621) and the second tendon rope structure (622) are clamped between the driving installation seat (12) and the annular disc section at the top of the annular disc section (32), the outer sheath pipes of the third tendon rope structure (623) and the fourth tendon rope structure (624) are clamped between the driving installation seat (12) and the annular disc section at the right middle position of the annular disc section (32), and tensioning springs are arranged between all the outer sheath pipes and the driving installation seat (12).
  8. 8. The tendon-drive-based multi-degree-of-freedom flexible grabbing robot as claimed in any one of claims 1, 2, 4, 6 or 7, wherein the vertical sliding control device (2) comprises a vertical sliding rail frame (21), a pulley table (22) and a sliding driving motor (23), the pulley table (22) is slidably mounted on the vertical sliding rail frame (21), the sliding driving motor (23) is fixedly mounted at the upper end or the lower end of the vertical sliding rail frame (21), a screw rod structure (24) is arranged at the output end of the sliding driving motor (23), the pulley table (22) is fixedly connected with a nut sleeve structure (25), and the nut sleeve structure (25) is matched with the screw rod structure (24).
  9. 9. The tendon-driven multi-degree-of-freedom flexible grabbing robot as claimed in claim 8, wherein the swing control mechanism (5) comprises a swing cover plate (51) and a swing rotation driving device (52), the swing rotation driving device (52) is fixedly installed on the swing cover plate (51), a driving pinion (53) is installed at the output end of the swing rotation driving device (52), a fixed large gear (54) is fixedly installed on the pulley table (22), the driving pinion (53) is meshed with the fixed large gear (54), and the swing cover plate (51) is rotatably installed on the pulley table (22).
  10. 10. The tendon-driven multi-degree-of-freedom flexible grabbing robot of claim 9, wherein the fixed large gear (54) is an external tooth type slewing bearing, an external tooth ring of the fixed large gear is fixedly connected to the pulley table (22) through bolts arranged in a surrounding mode, the slewing cover plate (51) is in a shape of an annular concave shell, and the inner side of the slewing cover plate (51) is fixedly connected to an inner ring of the external tooth type slewing bearing through bolts arranged in a surrounding mode.

Description

Multi-degree-of-freedom flexible grabbing robot based on tendon driving Technical Field The invention belongs to the technical field of robots, and particularly relates to a multi-degree-of-freedom flexible grabbing robot based on tendon driving. Background ‌ The flexible robot is a robot system with a main body made of flexible materials and high performance and high flexibility motion characteristics, and the high flexibility and energy absorption characteristics of the flexible robot are more suitable for the operation requirements in complex environments and can safely grasp fragile objects. The current flexible robot focuses on challenges such as precise control of flexible driving technology, and along with the progress of material science and mechanical control structures, the flexible robot has wide application prospects in complex industrial and civil scenes such as precise electronic assembly, logistics sorting, agricultural product picking and the like, integrated application of high-precision processing procedures and the like in the future. However, the existing flexible robots have the problems of insufficient degree of freedom, complex design structure and control structure, and the like, for example, in the prior art, a flexible cable drive serial robot based on a flexible joint and a tensile structure, which is disclosed in patent document with publication number CN 119871365A, comprises a moving platform, a fixed platform, a flexible joint mechanism, a tensile integral structure and a flexible cable drive device. The flexible joint mechanism comprises a flexible joint arranged between the mobile platform and the fixed platform and a flexible joint arranged between the mobile platform and the mobile platform. The tensioning integral structure comprises a flexible rope arranged between the moving platform and the fixed platform and a flexible rope arranged between the moving platform and the moving platform. The flexible cable driving device is driven by a speed reduction driver and is used for flexible cables which are arranged in sequence from a mobile platform to a fixed platform to a motor. The scheme has the problems of relatively sufficient degree of freedom, complex design structure and control structure, relatively heavy body structure, high manufacturing cost and large use scene limitation, and a flexible cable driving device is required to be arranged for controlling each direction and driven by a speed reduction driver. Disclosure of Invention Aiming at the defects of the prior art, the invention provides the multi-freedom-degree flexible grabbing robot which has high degree of freedom, simple design structure and control structure, low manufacturing cost and is based on tendon driving, wherein the movement in two directions can be controlled by a single driving. The specific technical scheme is as follows: The multi-freedom-degree flexible grabbing robot based on tendon driving comprises a head support mounting frame body, a vertical sliding control device, a body flexible universal bending assembly and a tail grabbing mechanism, wherein a swing control mechanism is arranged on the side part of the head support mounting frame body, the head support mounting frame body is arranged at the output end of the vertical sliding control device through the swing control mechanism, the body flexible universal bending assembly is connected to the lower end part of the head support mounting frame body, the tail grabbing mechanism is sequentially connected to the lower end part of the body flexible universal bending assembly, and at least two tendon rope rotating driving devices are further arranged at the upper end part of the head support mounting frame body; the flexible universal bending assembly for the body comprises a central bendable supporting rod and an annular disc section group, wherein the central part of the annular disc section group is fixedly arranged on the central bendable supporting rod, at least four groups of tendon rope perforations are formed in the edge part of the annular disc section group, the four groups of tendon rope perforations are located in four different directions, a reel is arranged at the output end of a tendon rope rotation driving device, a tendon rope structure is arranged in the reel, the middle part of the tendon rope structure is wound on the reel, and two ends of the tendon rope structure are fixedly connected to one annular disc section at the bottom or the middle part of the annular disc section through two groups of tendon rope perforations in opposite directions respectively. Further, the annular disc section group is composed of a plurality of annular disc sections, the annular disc sections are uniformly arranged at intervals on the central bendable supporting rod, and the outer diameters of all the annular disc sections are sequentially reduced and gradually arranged from top to bottom. Further, a compression spring group is arranged betwee