CN100443770C - Wire cable transmission mechanism for use in mechanical arm - Google Patents

Wire cable transmission mechanism for use in mechanical arm Download PDF

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Publication number
CN100443770C
CN100443770C CNB2006101472236A CN200610147223A CN100443770C CN 100443770 C CN100443770 C CN 100443770C CN B2006101472236 A CNB2006101472236 A CN B2006101472236A CN 200610147223 A CN200610147223 A CN 200610147223A CN 100443770 C CN100443770 C CN 100443770C
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CN
China
Prior art keywords
forearm
arm
live axle
wire rope
big arm
Prior art date
Application number
CNB2006101472236A
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Chinese (zh)
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CN1995777A (en
Inventor
陶俊
袁建军
张伟军
顿向明
Original Assignee
上海交通大学
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Application filed by 上海交通大学 filed Critical 上海交通大学
Priority to CNB2006101472236A priority Critical patent/CN100443770C/en
Publication of CN1995777A publication Critical patent/CN1995777A/en
Application granted granted Critical
Publication of CN100443770C publication Critical patent/CN100443770C/en

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Abstract

The invention relates to a transmission with steel rope for mechanical arm, belonging to mechanical technology area. In the invention, transverse sections of big and small arms are hollow tube shape. V-shape groove structure is set on the driving shaft of small arm to wind the steel rope and two ends of small arm are installed at the root of big arm by bearings. The driving shaft of big arm is fixed at the root of big arm and is maintained with the driving shaft of small arm in the coaxial line. V-shape groove structure also is set on the driven shaft of small arm and the driven shaft of small arm is connected with the root of small arm. Two ends are installed on the top of big arm by bearing. The steel rope is winded between driving and driven shafts of small arm and maintains tightening condition and the end of steel rope is fixed on the small arm. The tightening device of steel rope is set among the inner of big arm, the driving shaft of small arm and the driven shaft of small arm in whole. The invention lessens load consumption in mechanical arm and improves the rigidity of transmission mechanism of steel rope and the accuracy of end movement. In view of the structure, the whole weight is lightened. The appearance is simple and clean.

Description

The wire cable transmission mechanism that is used for mechanical arm
Technical field
What the present invention relates to is a kind of device of field of mechanical technique, specifically, is a kind of wire cable transmission mechanism that is used for mechanical arm.
Background technique
Joint of mechanical arm generally adopts motor, gear reducer, the direct-connected driving mechanism of joint shaft three, and this driving mechanism requires motor and gear reducer to be installed near the joint of mechanical arm, and mechanism is simple but structure is not compact, and outward appearance is untidy.Especially Tu Chu shortcoming is, in multi-joint mechanical arm, transmission devices such as the motor in next stage joint and gear reducer become the load in upper level joint, improved requirement to mechanical arm power and transmission component, cause the increase of overall weight and internal consumption thus, reduced mechanical arm externally do work ability and efficient.
Find through literature search prior art, wide rapids luxuriant men etc. are at Japan " association of robot will " (PP.1191, Vol.17, No.8,1999) publish thesis " Development of Quadruped Walking RobotTITAN-VIII for Commercially Available Research Platform " on and propose a kind of wire cable transmission mechanism that is used for multi-joint mechanical arm in (as the exploitation of the popular walking robot TITAN-VIII of research platform).This mechanism uses V-shaped groove spiral belt wheel to cooperate with common belt wheel, increases the frictional force of wire rope, thereby realizes the fricton-tight transmission of wire rope.Use is regulated the transmission tension force of wire rope by the terminal tension force controlling device that two sections bolt clip plates constitute.This driving mechanism is installed to motor gear retarder etc. away from the joint of mechanical arm place, avoided above-mentioned transmission component to become load, thereby has reduced the external acting ability that overall weight has improved mechanical arm.The deficiency of this mechanism is: the drive mechanism that V-shaped groove spiral belt wheel cooperates with common belt wheel causes wire rope effective length generation slight change in working order, change the size of tension force even wire rope occurred lax, destroy the rigidity of mechanism, thereby influence the execution precision of mechanical arm end.Two sections terminal tension force controlling devices that bolt clip plate constitutes can only can not reflect the effective tension size in the wire rope transmission process to a great extent at the terminal tension force of adjusting wire rope of wire rope.
Summary of the invention
The present invention is directed to the wire rope effective length variation of the mechanical arm mechanism existence of in the past using the wire rope transmission even relaxing causes the execution precision of mechanical arm end wayward, and the tension force controlling device is installed in the problem that the wire rope end can not be controlled the wire rope tensioning well, and a kind of wire cable transmission mechanism that is used for mechanical arm is provided.The present invention have simple in structure in light weight, wire rope transmission effective length does not change, passable easily thereby the wire rope tension force is regulated the characteristics such as execution precision that improve the mechanical arm end, solve and use the end of wire rope gearing arm to carry out problems such as precision.
The present invention is achieved through the following technical solutions.The present invention includes: forearm live axle, big arm live axle, bearing cap, bearing, wire rope, steel wire rope tension device, big arm, forearm, forearm driven shaft.The cross section of big arm and forearm all be a hollow tube-shape; the forearm live axle is provided with the V-shaped groove structure and is used for lay winding wire ropes; at big arm roots, axis is vertical with the length direction maintenance of arm greatly and make the V-shaped groove of forearm live axle be in big arm inside by Bearing Installation at forearm live axle two ends.Big arm live axle is fixed on big arm roots, keeps coaxial with the forearm live axle.Bearing cap is fixed on big arm roots, guarantees that the bearing and the position of big arm concern.The forearm driven shaft also is provided with the V-shaped groove structure and is used for lay winding wire ropes, the diameter of V-shaped groove, rotation direction and helical pitch V-shaped groove diameter, rotation direction and the helical pitch with the forearm live axle respectively are identical; the forearm driven shaft is fixedlyed connected with little arm roots; two ends by Bearing Installation at big arm top, the axis keeping parallelism of the axis of forearm driven shaft and forearm live axle.The V-shaped groove of forearm driven shaft is in the inside of big arm and forearm.Wire rope is wrapped between the V-shaped groove of forearm live axle and forearm driven shaft and keeps tensioning state, and the end of wire rope is fixed on the forearm.
Described steel wire rope tension device comprises two fixed blocks, two excellent, adjustment bolts of tensionings adjustment.The steel wire rope tension device integral installation is used for regulating tension force of steel wire between inner forearm live axle of big arm and forearm driven shaft.Two fixed blocks are fixedly mounted on big arm inside, and two tensioning adjustment rods are installed between two fixed blocks, can slide along the slideway of fixed block.Adjust bolt one end and be installed on the fixed block, an end connects tensioning and adjusts rod.Turn and adjust bolt and can change tensioning and adjust relative position relation between rod and the fixed block, thereby realize the tension force of steel wire adjustment.
Wire rope of the present invention is wrapped between the V-shaped groove of forearm live axle and forearm driven shaft, guarantees the tractive force of wire rope by stiction, and the diameter of two V-shaped grooves, rotation direction and helical pitch are identical respectively.Therefore, drive in forearm driven shaft and the forearm rotating process by rope traction in the rotation of forearm live axle, wire rope is engaging-in and nibble out equal lengths along the V-shaped groove of forearm live axle and forearm driven shaft respectively, and promptly the effective length of wire rope does not change.This has guaranteed that problems such as wire rope is lax can not take place wire rope driving mechanism of the present invention in operation process, can realize the terminal kinematic accuracy of higher mechanical arm.
Another one characteristics of the present invention are between forearm live axle and forearm driven shaft, just in the effective length interval of wire rope steel wire rope tension device are installed.Steel wire rope tension device is directly regulated the effective tension of wire rope transmission process, thereby has solved in the terminal existing problem of tension force of regulating of wire rope.The adjustment bolt design of steel wire rope tension device has also realized the easy tension force adjusting of convenience.
Wire cable transmission mechanism of the present invention has alleviated the consumption of mechanical arm internal load, improved external delivery efficiency, solved problems such as the weak rigidity of general wire cable transmission mechanism, terminal kinematic accuracy be not high simultaneously, alleviated whole weight on the structure as much as possible, made outward appearance concisely clean and tidy.
Description of drawings
Fig. 1 is a structural representation of the present invention
Fig. 2 is a steel wire rope tension device structural representation of the present invention
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is to be to implement under the prerequisite with the technical solution of the present invention; provided detailed mode of execution and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: forearm live axle 1, big arm live axle 2, clutch shaft bearing 3, second bearing 4, bearing cap 5, wire rope 6, big arm 7, steel wire rope tension device 8, the 3rd bearing 9, the 4th bearing 10, forearm 11, forearm driven shaft 12.The cross section of big arm 7 and forearm 11 all is a hollow tube-shape.Forearm live axle 1 and forearm driven shaft 12 have all designed the V-shaped groove structure and have been used for lay winding wire ropes.
Each parts interconnected relationship is: forearm live axle 1 two ends are installed in big arm 7 roots by the clutch shaft bearing 3 and second bearing 4, and axis keeps vertical and makes the V-shaped groove of forearm live axle 1 be in big arm 7 hollow tube-shape inside with the length direction of big arm 7.Big arm live axle 2 is fixed on big arm 7 roots, keeps coaxial with forearm live axle 1.Bearing cap 5 is fixed on big arm 7 roots, guarantees that the clutch shaft bearing 3 and the position of big arm 7 concern.Forearm driven shaft 12 is fixedlyed connected with forearm 11 roots, and two ends are installed in big arm 7 tops, the axis keeping parallelism of the axis of forearm driven shaft 12 and forearm live axle 1 by the 3rd bearing 9 and the 4th bearing 10.The V-shaped groove of forearm driven shaft 12 is in the hollow tube-shape inside of big arm 7 and forearm 11.Wire rope 6 is wrapped between the V-shaped groove of forearm live axle 1 and forearm driven shaft 12 and keeps tensioning state, and the end of wire rope 6 is fixed on the forearm 11.Steel wire rope tension device 8 integral installations are used for regulating the tension force of wire rope 6 between big arm 7 inner forearm live axles 1 and forearm driven shaft 12.
Big arm live axle 2 directly drives big arm 7 and rotates.Forearm live axle 1 drives forearm driven shaft 12 by wire rope 6 and forearm 11 rotates with respect to big arm 7, realizes the mechanical arm of wire rope transmission thus.
Fig. 2 is steel wire rope tension device 8 structural representations.Described steel wire rope tension device 8 comprises: two fixed blocks 13 and 14, first tensioning are adjusted rod 15, second tensioning and are adjusted rod 16, first and adjust bolt 17, second and adjust bolt the 18, the 3rd and adjust bolt the 19, the 4th and adjust bolt 20.Each parts interconnected relationship is: two fixed blocks 13 and 14 are fixedly mounted on big arm 7 hollow tube-shape inside, two tensioning adjustment rods 15 and 16 are installed between two fixed blocks 13 and 14, can slide along the slideway that two fixed blocks 13 and 14 provide jointly, and keep in touch with wire rope 6.The first adjustment bolt 17, second is adjusted bolt 18 1 ends and is installed on two fixed blocks, and the other end connects second tensioning and adjusts rod 16.Turn the first adjustment bolt 17, second and adjust the position that bolt 18 can change second tensioning adjustment rod 16, thereby realize the monolateral tension force adjustment of wire rope 6.Equally, the 3rd adjustment bolt the 19, the 4th is adjusted bolt 20 1 ends and is installed on two fixed blocks, and the other end connects first tensioning and adjusts rod 15.Turn the 3rd adjustment bolt the 19, the 4th and adjust the position that bolt 20 can change first tensioning adjustment rod 15, thereby realize the another side tension force adjustment of wire rope 6.When needing to strengthen the tension force of wire rope 6, only need turn the relevant bolt of adjusting clockwise, make corresponding tensioning adjust rod and promote wire rope, increase the bilateral tension force adjustment that the pulling force of adjusting bolt is realized easy wire rope transmission thus.

Claims (5)

1, a kind of wire cable transmission mechanism that is used for mechanical arm, comprise: forearm live axle, big arm live axle, bearing cap, bearing, wire rope, steel wire rope tension device, big arm, forearm, forearm driven shaft, it is characterized in that, the cross section of big arm and forearm all be a hollow tube-shape; the forearm live axle is provided with the V-shaped groove structure and is used for lay winding wire ropes; forearm live axle two ends are arranged on big arm roots by bearing, and the arm live axle is fixed on big arm roots greatly, and bearing cap is fixed on big arm roots; The forearm driven shaft also is provided with the V-shaped groove structure and is used for lay winding wire ropes, and the forearm driven shaft is fixedlyed connected with little arm roots, and two ends are arranged on big arm top by bearing; Wire rope is wrapped between the V-shaped groove of forearm live axle and forearm driven shaft and keeps tensioning state, and the end of wire rope is fixed on the forearm, and steel wire rope tension device integral body is arranged between big arm inside, forearm live axle and the forearm driven shaft;
Described steel wire rope tension device comprises: two fixed blocks, two tensionings are adjusted rod, are adjusted bolt, and two fixed blocks are fixedly installed on big arm hollow tube-shape inside, and two tensioning adjustment rods are arranged between two fixed blocks; Adjust bolt one end and be arranged on the fixed block, the other end connects tensioning and adjusts rod;
Described two tensionings are adjusted rod and are slided along the slideway of fixed block, and keep-up pressure with wire rope and contact, the adjustment of realization wire rope effective tension that balances each other of the effective tension of adjusting pulling force between bolt and the tensioning adjustment rod and wire rope transmission process.
2, the wire cable transmission mechanism that is used for mechanical arm according to claim 1 is characterized in that, the axis keeping parallelism of the axis of described forearm driven shaft and forearm live axle, and described big arm live axle keeps coaxial with the forearm live axle.
3, the wire cable transmission mechanism that is used for mechanical arm according to claim 1 and 2 is characterized in that, described forearm live axle and forearm driven shaft, and the diameter of both V-shaped grooves, rotation direction and helical pitch are identical respectively.
4, the wire cable transmission mechanism that is used for mechanical arm according to claim 1 and 2 is characterized in that, the axis of described forearm live axle keeps vertical and makes the V-shaped groove of forearm live axle be in big arm hollow tube-shape inside with the length direction of big arm.
5, the wire cable transmission mechanism that is used for mechanical arm according to claim 1 is characterized in that, the V-shaped groove of described forearm driven shaft is in the hollow tube-shape inside of big arm and forearm.
CNB2006101472236A 2006-12-14 2006-12-14 Wire cable transmission mechanism for use in mechanical arm CN100443770C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2006101472236A CN100443770C (en) 2006-12-14 2006-12-14 Wire cable transmission mechanism for use in mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2006101472236A CN100443770C (en) 2006-12-14 2006-12-14 Wire cable transmission mechanism for use in mechanical arm

Publications (2)

Publication Number Publication Date
CN1995777A CN1995777A (en) 2007-07-11
CN100443770C true CN100443770C (en) 2008-12-17

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CN102587667A (en) * 2012-03-06 2012-07-18 三一重工股份有限公司 Arm support structure, arm support device and concrete pump truck

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CN101890723B (en) * 2010-07-01 2011-12-21 北京航空航天大学 Driving mechanism of cable-driven humanoid-arm robot
CN102371590A (en) * 2010-08-25 2012-03-14 鸿富锦精密工业(深圳)有限公司 Arm structure of robot
CN102814821B (en) * 2012-09-14 2014-12-10 中国科学院合肥物质科学研究院 Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes
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CN104029216B (en) * 2014-06-11 2016-02-24 哈尔滨工业大学 There is the flexible driving unit for robot joint of tension force and joint position feedback
CN104070532A (en) * 2014-07-14 2014-10-01 中国科学院合肥物质科学研究院 Joint of multi-section folding type remote operation mechanical arm
CN104455247A (en) * 2014-11-28 2015-03-25 谢兴宝 Pull type rope drive device and application of pull type rope drive device in automatic flag raising and lowering system
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CN106109018A (en) * 2016-06-22 2016-11-16 重庆金山科技(集团)有限公司 Micro-wound operation robot and passive arm equalization brake gear thereof
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Publication number Priority date Publication date Assignee Title
CN102587667A (en) * 2012-03-06 2012-07-18 三一重工股份有限公司 Arm support structure, arm support device and concrete pump truck
CN102587667B (en) * 2012-03-06 2015-02-18 三一重工股份有限公司 Arm support structure, arm support device and concrete pump truck

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