CN101332603B - Lasso transmission mechanical arm - Google Patents
Lasso transmission mechanical arm Download PDFInfo
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- CN101332603B CN101332603B CN200810022839XA CN200810022839A CN101332603B CN 101332603 B CN101332603 B CN 101332603B CN 200810022839X A CN200810022839X A CN 200810022839XA CN 200810022839 A CN200810022839 A CN 200810022839A CN 101332603 B CN101332603 B CN 101332603B
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Abstract
The invention discloses a noose transmission mechanical arm which comprises a drive module, an operating rod and an end mechanical arm, wherein, the end mechanical arm is arranged at the end of the operating rod, a noose transmission module is arranged between the drive module and the end mechanical arm, one end of the noose transmission module is connected with the drive module and the other end thereof is connected with the end mechanical arm, the noose transmission module contains eight nooses, the nooses consist of sleeves and ropes, and the ropes can be slidably arranged in the sleeves. The mechanical arm adopts the noose transmission mechanism which can realize remote transmission and has simple mechanical structure and flexible transmission route; the mechanical arm has the advantages of simple and reasonable structure, flexible action and being capable of operating in narrow space; when in operation, only a part of the noose transmission mechanical arm goes into the narrow space, therefore, the situation that the mechanical arm is incapable of being taken back in the event of failure does not occur; the mechanical arm is applicable to the relief work in the debris after a disaster, and can be also used for inspecting and maintaining a large transformer, clearing a pipe, and the like, which need to be operated in narrow space.
Description
Technical field
The present invention relates to a kind of manipulator based on the lasso trick transmission, specifically, is a kind of manipulator that is used for disaster relief etc. need operation in small space, belongs to the Robotics field.
Background technology
In the past few decades, the mankind have suffered a lot of natural or artificial disasters, such as, earthquake, fire, mine disaster and attack of terrorism or the like.After these disasters take place, in ruins or the down-hole search the survivor, give necessary medical rescue, and as early as possible captive to be rescued be rescue personnel's top priority.Experience shows, is to search and rescue the best period that is trapped in the survivor in the ruins within 48 hours after the calamity, surpasses during this period of time, and it is very low that the survival rate of trapped personnel just becomes.Because disaster scene situation complexity, the rescue worker directly enters the disaster scene, and to carry out rescue work abnormally dangerous.In addition, the small space that forms in the ruins, rescue personnel even rescue dogs all can't enter.At this moment just be a long felt need for a kind of disaster search and rescue robot.The disaster search and rescue robot can well address the above problem.Robot can enter the disaster scene in the disaster generation back very first time and search and rescue the survivor, provides food and basic medical services to trapped personnel, and the relevant information of disaster scene is fed back to the rescue command center.
Disaster relief robot is an emerging development field of robot, belongs to a branch of dangerous school assignment robot.Lot of domestic and international research institution is all carrying out the research of this respect.U.S. iRobot company has developed PackBot series robot, and this robot can adapt to uneven terrain environment and stair climbing.Canada Inuktun company has developed the polymorphic search and rescue robot of MicroVGTV, and it can adjust shape and size neatly according to operating environment on every side.For satisfying the more needs of small space search and rescue, the researcher has developed bio-robot miscellaneous according to ecological principle.Univ California-Berkeley develops the first in the world fly robot, by being contained in microsensor and the microcam on its head, can arriving beneath or other disaster places searchings survivor in the building ruins of collapsing.Osaka, Japan university has developed a kind of snake-shaped robot that is used to search and rescue.Domestic research aspect disaster relief robot is just at the early-stage, the equal independent development of the National University of Defense technology has in one's power been studied in Chinese Academy of Sciences's Shenyang automation snakelike disaster relief robot separately.
The general on one's body equipment that only carries search survivors such as camera, life-detection instrument of above-mentioned disaster relief robot lacks the ability of removing danger in the small space in ruins or trapped personnel being provided services such as food and basic medical relief.Therefore, need a kind of micromanipulator of dexterous action of can realizing and finish this task.
Summary of the invention
Technical problem to be solved by this invention is at above-mentioned the deficiencies in the prior art, and the lasso transmission mechanical arm that a kind of drive path simple in structure, in light weight, transmission mechanism is flexible, be adapted at operation in the small space is provided.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of lasso transmission mechanical arm, comprise driver module, action bars and terminal manipulator, terminal manipulator is located at the end of action bars, between driver module and terminal manipulator, be provided with the lasso trick transmission module, one end of lasso trick transmission module links to each other with driver module, and the other end of lasso trick transmission module links to each other with terminal manipulator, and the lasso trick transmission module comprises eight lasso tricks, lasso trick is made up of sleeve pipe and rope, and rope slidably is located in the sleeve pipe.
The present invention can further take following technical measures:
(1) driver module comprises the steering wheel fixed head, on the steering wheel fixed head, be fixed with the first steering wheel module, the second steering wheel module, the 3rd steering wheel module, the 4th steering wheel module, the 5th steering wheel module, the first steering wheel module, the second steering wheel module, the 3rd steering wheel module, the 4th steering wheel module or the 5th steering wheel module are made up of steering wheel and steering wheel end slot wheel, and steering wheel end slot wheel is located on the output shaft of steering wheel;
Terminal manipulator comprises linear joint, first cradle head and be coupled second, the 3rd cradle head, linear joint comprises pedestal, on pedestal, slidely connect sliding part, be provided with gathering sill at pedestal, on sliding part, be provided with the pin key that matches with gathering sill, between pedestal and sliding part, be provided with the compression spring, one end and the pedestal of first sleeve pipe of first lasso trick in eight lasso tricks offset, the other end of first sleeve pipe and steering wheel fixed head offset, one end of first rope of first lasso trick in eight lasso tricks is connected with sliding part, the other end of first rope is connected with the steering wheel end slot wheel of the first steering wheel module, and first rope is embedded in the grooving of steering wheel end slot wheel of the first steering wheel module;
Described first cradle head comprises swing component, on swing component, be fixed with half sheave, swing component and sliding part are rotationally connected, one end and the sliding part of second sleeve pipe of second lasso trick in eight lasso tricks offset, the other end and the steering wheel fixed head of second sleeve pipe of second lasso trick in eight lasso tricks offset, one end of second rope of second lasso trick in eight lasso tricks is connected with half sheave, the other end of second rope of second lasso trick is connected with the steering wheel end slot wheel of the second steering wheel module, one end and the sliding part of the 3rd sleeve pipe of the 3rd lasso trick in eight lasso tricks offset, the other end and the steering wheel fixed head of the 3rd sleeve pipe of the 3rd lasso trick in eight lasso tricks offset, one end of the 3rd rope of the 3rd lasso trick in eight lasso tricks is connected with half sheave, the other end of the 3rd rope of the 3rd lasso trick is connected with the steering wheel end slot wheel of the second steering wheel module, described second rope embeds in the grooving of steering wheel end slot wheel of the grooving of half sheave and the second steering wheel module, and described the 3rd rope embeds in the grooving of steering wheel end slot wheel of the grooving of half sheave and the second steering wheel module;
Be coupled second, the 3rd cradle head comprises first bearing and second bearing, first bearing and second bearing are located on the swing component, at the axial line of the axial line that is rotatably connected to first power shaft and second power shaft and first power shaft on first bearing and second bearing respectively and second power shaft on same straight line, on first power shaft and second power shaft, be provided with support, it is vertical with second power shaft with first power shaft to be rotatably connected to output shaft and output shaft on support, at first power shaft, be respectively equipped with first bevel gear on second power shaft and the output shaft, second bevel gear and bevel gear, and bevel gear respectively with first bevel gear, the engagement of second bevel gear, at first power shaft, be respectively equipped with first sheave on second power shaft, second sheave, one end and first bearing of one end of the quadruplet pipe of the quadruplet rope in eight lasso tricks and the 5th sleeve pipe of the 5th lasso trick offset, the other end and the steering wheel fixed head of the other end of the quadruplet pipe of quadruplet rope and the 5th sleeve pipe of the 5th lasso trick offset, one end of one end of the 4th rope of quadruplet rope and the 5th rope of the 5th lasso trick is connected with first sheave, the other end of the other end of the 4th rope of quadruplet rope and the 5th rope of the 5th lasso trick is connected with the steering wheel end slot wheel of the 3rd steering wheel module, described the 4th rope embeds in the grooving of steering wheel end slot wheel of the grooving of first sheave and the 3rd steering wheel module, described the 5th rope embeds in the grooving of steering wheel end slot wheel of the grooving of first sheave and the 3rd steering wheel module, one end and second bearing of one end of the 6th sleeve pipe of the 6th lasso trick in eight lasso tricks and the 7th sleeve pipe of the 7th lasso trick offset, the other end and the steering wheel fixed head of the other end of the 6th sleeve pipe of the 6th lasso trick and the 7th sleeve pipe of the 7th lasso trick offset, one end of one end of the 6th rope of the 6th lasso trick and the 7th rope of the 7th lasso trick is connected with second sheave, the other end of the other end of the 6th rope of the 6th lasso trick and the 7th rope of the 7th lasso trick is connected with the steering wheel end slot wheel of the 4th steering wheel module, described the 6th rope embeds in the grooving of steering wheel end slot wheel of the grooving of second sheave and the 4th steering wheel module, and described the 7th rope embeds in the grooving of steering wheel end slot wheel of the grooving of second sheave and the 4th steering wheel module.
(2) on output shaft, be provided with clip, on an intermediate plate of clip, be provided with the sleeve pipe fixture, one end and the sleeve pipe fixture of the 8th sleeve pipe of the 8th lasso trick in eight lasso tricks offset, the other end of the 8th sleeve pipe of the 8th lasso trick with offset with the steering wheel fixed head, one end of the 8th rope of the 8th lasso trick is connected with another intermediate plate of clip, the other end of the 8th rope of the 8th lasso trick is connected with the steering wheel end slot wheel of the 5th steering wheel module, and the 8th rope embeds in the grooving of steering wheel end slot wheel of the 5th steering wheel module.
Compared with prior art, lasso transmission mechanical arm of the present invention has following advantage:
1. there are band transmission, chain transmission and Suo Chuandong (also crying the tendon transmission) etc. in the remote mechanically operated mechanism of traditional realization, the drive path of these transmission mechanisms generally can only be straight line or broken line, and when drive path is not straight line, generally need transition wheel to change transmission direction; The present invention has adopted the lasso trick transmission mechanism, and the drive path of this transmission mechanism is determined by sleeve pipe, because sleeve pipe is flexible, flexible one-tenth arbitrary curve, therefore the drive path of lasso trick transmission mechanism is very flexible, and does not need transition wheel to lead, and is simple in structure.Manipulator of the present invention has adopted the lasso trick transmission mechanism, and is simple in structure, in light weight, can be deep into operation in the small space.
2. present existing disaster relief robot generally only has the function of searching the survivor, manipulator of the present invention has four joints, be respectively linear joint, first cradle head and second, third cradle head of being coupled, can realize certain dexterity action, can finish certain operation to operand, such as, remove danger in the small space in ruins or trapped personnel provided operations such as food and simple medical services.
3. present disaster relief robot is that carrier directly enters in the small space in ruins fully with travelling car or small aircraft etc. mostly, when robot critical failure occurs during in operation, can't regain; And disaster relief manipulator of the present invention just partly gos deep into terminal manipulator in the small space by elongated action bars, and there is not the nonrecoverable situation that breaks down in the other end of action bars also outside.
4. the present invention can go deep into operation in the small space by hand-held or other equipment clamping action bars, and operating personnel only need manually get final product by computer program control steering wheel driving device, and are simple, convenient.
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 lasso transmission mechanical arm overall structure schematic diagram.
Fig. 2 lasso transmission mechanical arm driver module structural representation.
The vertical view of the terminal manipulator of Fig. 3 lasso transmission mechanical arm.
The front view of the terminal manipulator of Fig. 4 lasso transmission mechanical arm.
The preceding two joint cutaway views of the terminal manipulator of Fig. 5 lasso transmission mechanical arm.
Two joint cutaway views behind the terminal manipulator of Fig. 6 lasso transmission mechanical arm.
The specific embodiment
Lasso transmission mechanical arm comprises driver module 1, lasso trick transmission module 2, action bars 3 and terminal manipulator 4 as shown in Figure 1, terminal manipulator 4 is located at the end of action bars 3, one end of lasso trick transmission module 2 links to each other with driver module 1, and the other end passes with terminal manipulator 4 from the centre bore of action bars 3 and links to each other.Lasso trick transmission module 2 comprises eight lasso tricks, and lasso trick is made up of sleeve pipe and rope, and rope can slide in sleeve pipe.Terminal manipulator 4 has four joints, is respectively linear joint, first cradle head and second, third cradle head of being coupled, and second, third cradle head that is coupled is made of a differential gear train.
Be illustrated in figure 2 as lasso transmission mechanical arm driver module structural representation, driver module 1 comprises steering wheel fixed head 14, be fixed with the first steering wheel modules A on the steering wheel fixed head 14, the second steering wheel module B, the 3rd steering wheel module C, the 4th steering wheel module D, the 5th steering wheel module E, the first steering wheel modules A, the second steering wheel module B, the 3rd steering wheel module C, the 4th steering wheel module D or the 5th steering wheel module E comprise steering wheel 15, the output shaft of steering wheel 15 is provided with a rocking arm 13, steering wheel end slot wheel 12 is located on the rocking arm 13, one end of the rope that first rope catching device 11 on the steering wheel end slot wheel 12 will drive is fixed on the steering wheel end slot wheel 12, also be provided with first steering wheel end cover interface tube 16 on the steering wheel fixed head 14, second steering wheel end cover interface tube, 17, the first steering wheel ends cover interface tube 16, second steering wheel end cover interface tube 17 offsets with the sleeve pipe of corresponding lasso trick.
Fig. 3, Fig. 4 have provided the annexation of lasso trick and terminal manipulator 4 each joint and clip 427.
Be illustrated in figure 5 as the cutaway view in terminal manipulator 4 preceding two joints of lasso transmission mechanical arm, linear joint comprises pedestal 402, on pedestal 402, slidely connect sliding part 404, be provided with gathering sill 413 at pedestal 402, on sliding part 404, be provided with the pin key 412 that matches with gathering sill 413, between pedestal 402 and sliding part 404, be provided with compression spring 414, one end and the pedestal 402 of first sleeve pipe 215 of first lasso trick in eight lasso tricks offset, the other end of first sleeve pipe 215 and steering wheel fixed head 14 offset, one end of first rope 205 of first lasso trick in eight lasso tricks is connected with sliding part 404, the end that first rope 205 is connected with sliding part 404 is provided with a ball-type joint, first rope 205 passes from the centre bore of pedestal 402 and sliding part 404, and the ball-type joint of first rope 205 is embedded in 411 li of rope hole clippings, the other end of first rope 205 is connected with the steering wheel end slot wheel of the first steering wheel modules A, and first rope 205 is embedded in the grooving of steering wheel end slot wheel of the first steering wheel modules A.During work, the first steering wheel modules A is ordered about sliding part 404 to moving near the direction of pedestal 402 by dropping first rope 205; Compression spring 414 can realize that sliding part 404 moves to the direction away from pedestal 402.First cradle head comprises swing component 408, on swing component 408, be fixed with half sheave 409, swing component 408 is rotationally connected with sliding part 404, rotating shaft 410 is fixed on the sliding part 404, one end and the sliding part 404 of second sleeve pipe 217 of second lasso trick in eight lasso tricks offset, the other end and the steering wheel fixed head 14 of second sleeve pipe 217 of second lasso trick in eight lasso tricks offset, one end of second rope 207 of second lasso trick in eight lasso tricks is connected by second rope catching device 407 with half sheave 409, the other end of second rope 207 of second lasso trick is connected with the steering wheel end slot wheel of the second steering wheel module B, one end and the sliding part 404 of the 3rd sleeve pipe 213 of the 3rd lasso trick in eight lasso tricks offset, the other end and the steering wheel fixed head 14 of the 3rd sleeve pipe 213 of the 3rd lasso trick in eight lasso tricks offset, one end of the 3rd rope 203 of the 3rd lasso trick in eight lasso tricks is connected by second rope catching device 407 with half sheave 409, the other end of the 3rd rope 203 of the 3rd lasso trick is connected with the steering wheel end slot wheel of the second steering wheel module B, in the grooving of the grooving of described second rope, 207 embeddings, half sheave 409 and the steering wheel end slot wheel of the second steering wheel module B, in the grooving of the grooving of described the 3rd rope 203 embeddings half sheave 409 and the steering wheel end slot wheel of the second steering wheel module B.During work, the second steering wheel module B drops second rope 207, the 3rd rope 203 respectively can realize that swing component 408 410 rotates to both direction around the shaft relative to sliding part 404.
Be illustrated in figure 6 as two joint cutaway views behind the terminal manipulator of lasso transmission mechanical arm.Be coupled second, the 3rd cradle head is realized by a differential gear train, be coupled second, the 3rd cradle head comprises first bearing 420 and second bearing 430, first bearing 420 and second bearing 430 are located on the swing component 408, the axial line that is rotatably connected to the axial line of first power shaft 422 and second power shaft 432 and first power shaft 422 and second power shaft 432 on first bearing 420 and second bearing 430 respectively is on same straight line, on first power shaft 422 and second power shaft 432, be provided with support 425, it is vertical with second power shaft 432 with first power shaft 422 to be rotatably connected to output shaft 429 and output shaft 429 on support 425, at first power shaft 422, be respectively equipped with first bevel gear 424 on second power shaft 432 and the output shaft 429, second bevel gear 434 and bevel gear 426, and bevel gear 426 respectively with first bevel gear 424,434 engagements of second bevel gear, at first power shaft 422, be respectively equipped with first sheave 421 on second power shaft 432, second sheave 431, one end and first bearing 420 of one end of the quadruplet pipe 216 of the quadruplet rope in eight lasso tricks and the 5th sleeve pipe 218 of the 5th lasso trick offset, the other end and the steering wheel fixed head 14 of the other end of the quadruplet pipe 216 of quadruplet rope and the 5th sleeve pipe 218 of the 5th lasso trick offset, one end of one end of the 4th rope 206 of quadruplet rope and the 5th rope 208 of the 5th lasso trick is connected by screw 423 with first sheave 421, the other end of the other end of the 4th rope 206 of quadruplet rope and the 5th rope 208 of the 5th lasso trick is connected with the steering wheel end slot wheel of the 3rd steering wheel module C, in the grooving of the grooving of described the 4th rope 206 embeddings first sheave 421 and the steering wheel end slot wheel of the 3rd steering wheel module C, in the grooving of the grooving of described the 5th rope 208 embeddings first sheave 421 and the steering wheel end slot wheel of the 3rd steering wheel module C, one end and second bearing 430 of one end of the 6th sleeve pipe 214 of the 6th lasso trick in eight lasso tricks and the 7th sleeve pipe 211 of the 7th lasso trick offset, the other end and the steering wheel fixed head 14 of the other end of the 6th sleeve pipe 214 of the 6th lasso trick and the 7th sleeve pipe 211 of the 7th lasso trick offset, one end of one end of the 6th rope 204 of the 6th lasso trick and the 7th rope 201 of the 7th lasso trick is connected by screw 433 with second sheave 431, the other end of the other end of the 6th rope 204 of the 6th lasso trick and the 7th rope 201 of the 7th lasso trick is connected with the steering wheel end slot wheel of the 4th steering wheel module D, in the grooving of the grooving of described the 6th rope 204 embeddings second sheave 431 and the steering wheel end slot wheel of the 4th steering wheel module D, in the grooving of the grooving of described the 7th rope 201 embeddings second sheave 431 and the steering wheel end slot wheel of the 4th steering wheel module D.During work, by the 3rd steering wheel module C and the 4th steering wheel module D through lasso trick with different speed drive first bevel gear 424, second bevel gear 434, just can realize driving the rotation of output shaft 429 around output shaft 429 axial lines and first power shaft, 422 axial lines.
On output shaft 429, be provided with clip 427, on an intermediate plate of clip 427, be provided with sleeve pipe fixture 428, one end and the sleeve pipe fixture 428 of the 8th sleeve pipe 212 of the 8th lasso trick in eight lasso tricks offset, the other end and the steering wheel fixed head 14 of the 8th sleeve pipe 212 of the 8th lasso trick offset, one end of the 8th rope 202 dribbling type joints of the 8th lasso trick is connected with another intermediate plate of clip 427, the other end of the 8th rope 202 of the 8th lasso trick is connected with the steering wheel end slot wheel of the 5th steering wheel module E, and, in the grooving of the steering wheel end slot wheel of the 8th rope 202 embeddings the 5th steering wheel module E.During work, the 5th steering wheel module E orders about clip 427 and closes by dropping the 8th rope 202, and when the 8th rope 202 was lax, clip 427 opened automatically by the elasticity of intermediate plate.
During use, hand-held or the miscellaneous equipment clamping action bars 3 of operating personnel is deep into terminal manipulator 4 after the calamity in the small space in the ruins, rotation by miscellaneous equipment control steering wheel just can drive terminal manipulator 4 each joint and clip 427 actions, is implemented in the small space dismounting danger or trapped personnel is provided functions such as food and simple medical services.Certainly, this lasso transmission mechanical arm also can be used on high-power transformer and detects the occasion that maintenance, pipeline cleaning etc. need operations in small space.
Claims (2)
1. lasso transmission mechanical arm; Comprise driver module (1), action bars (3) and terminal manipulator (4); Terminal manipulator (4) is located at the end of action bars (3); It is characterized in that: between driver module (1) and terminal manipulator (4), be provided with lasso trick transmission module (2); One end of lasso trick transmission module (2) links to each other with driver module (1); The other end of lasso trick transmission module (2) links to each other with terminal manipulator (4); Lasso trick transmission module (2) comprises eight lasso tricks; Lasso trick is made up of sleeve pipe and rope; Rope slidably is located in the sleeve pipe
Driver module (1) comprises steering wheel fixed head (14), on steering wheel fixed head (14), be fixed with the first steering wheel module (A), the second steering wheel module (B), the 3rd steering wheel module (C), the 4th steering wheel module (D), the 5th steering wheel module (E), the first steering wheel module (A), the second steering wheel module (B), the 3rd steering wheel module (C), the 4th steering wheel module (D) or the 5th steering wheel module (E) are made up of steering wheel (15) and steering wheel end slot wheel (12), and steering wheel end slot wheel (12) is located on the output shaft of steering wheel (15);
Terminal manipulator (4) comprises linear joint, first cradle head and be coupled second, the 3rd cradle head, linear joint comprises pedestal (402), on pedestal (402), slidely connect sliding part (404), be provided with gathering sill (413) at pedestal (402), on sliding part (404), be provided with the pin key (412) that matches with gathering sill (413), between pedestal (402) and sliding part (404), be provided with compression spring (414), one end and the pedestal (402) of first sleeve pipe (215) of first lasso trick in eight lasso tricks offset, the other end of first sleeve pipe (215) and steering wheel fixed head (14) offset, one end of first rope (205) of first lasso trick in eight lasso tricks is connected with sliding part (404), the other end of first rope (205) is connected with the steering wheel end slot wheel of the first steering wheel module (A), and, in the grooving of the steering wheel end slot wheel of first rope (205) embedding, the first steering wheel module (A);
Described first cradle head comprises swing component (408), on swing component (408), be fixed with half sheave (409), swing component (408) is rotationally connected with sliding part (404), one end and the sliding part (404) of second sleeve pipe (217) of second lasso trick in eight lasso tricks offset, the other end and the steering wheel fixed head (14) of second sleeve pipe (217) of second lasso trick in eight lasso tricks offset, one end of second rope (207) of second lasso trick in eight lasso tricks is connected with half sheave (409), the other end of second rope (207) of second lasso trick is connected with the steering wheel end slot wheel of the second steering wheel module (B), one end and the sliding part (404) of the 3rd sleeve pipe (213) of the 3rd lasso trick in eight lasso tricks offset, the other end and the steering wheel fixed head (14) of the 3rd sleeve pipe (213) of the 3rd lasso trick in eight lasso tricks offset, one end of the 3rd rope (203) of the 3rd lasso trick in eight lasso tricks is connected with half sheave (409), the other end of the 3rd rope (203) of the 3rd lasso trick is connected with the steering wheel end slot wheel of the second steering wheel module (B), in the grooving of the grooving of described second rope (207) embedding half sheave (409) and the steering wheel end slot of the second steering wheel module (B) wheel, in the grooving of the grooving of described the 3rd rope (203) embedding half sheave (409) and the steering wheel end slot of the second steering wheel module (B) wheel;
Be coupled second, the 3rd cradle head comprises first bearing (420) and second bearing (430) jointly, first bearing (420) and second bearing (430) are located on the swing component (408), the axial line that is rotatably connected to the axial line of first power shaft (422) and second power shaft (432) and first power shaft (422) and second power shaft (432) on first bearing (420) and second bearing (430) respectively is on same straight line, on first power shaft (422) and second power shaft (432), be provided with support (425), it is vertical with second power shaft (432) with first power shaft (422) to be rotatably connected to first output shaft (429) and first output shaft (429) on support (425), in first power shaft (422), be respectively equipped with first bevel gear (424) on second power shaft (432) and first output shaft (429), second bevel gear (434) and bevel gear (426), and bevel gear (426) respectively with first bevel gear (424), second bevel gear (434) engagement, in first power shaft (422), be respectively equipped with first sheave (421) on second power shaft (432), second sheave (431), one end and first bearing (420) of one end of the quadruplet pipe (216) of the quadruplet rope in eight lasso tricks and the 5th sleeve pipe (218) of the 5th lasso trick offset, the other end and the steering wheel fixed head (14) of the other end of the quadruplet pipe (216) of quadruplet rope and the 5th sleeve pipe (218) of the 5th lasso trick offset, one end of one end of the 4th rope (206) of quadruplet rope and the 5th rope (208) of the 5th lasso trick is connected with first sheave (421), the other end of the other end of the 4th rope (206) of quadruplet rope and the 5th rope (208) of the 5th lasso trick is connected with the steering wheel end slot wheel of the 3rd steering wheel module (C), in the grooving of the grooving of described the 4th rope (206) embedding first sheave (421) and the steering wheel end slot of the 3rd steering wheel module (C) wheel, in the grooving of the grooving of described the 5th rope (208) embedding first sheave (421) and the steering wheel end slot of the 3rd steering wheel module (C) wheel, one end and second bearing (430) of one end of the 6th sleeve pipe (214) of the 6th lasso trick in eight lasso tricks and the 7th sleeve pipe (211) of the 7th lasso trick offset, the other end and the steering wheel fixed head (14) of the other end of the 6th sleeve pipe (214) of the 6th lasso trick and the 7th sleeve pipe (211) of the 7th lasso trick offset, one end of one end of the 6th rope (204) of the 6th lasso trick and the 7th rope (201) of the 7th lasso trick is connected with second sheave (431), the other end of the other end of the 6th rope (204) of the 6th lasso trick and the 7th rope (201) of the 7th lasso trick is connected with the steering wheel end slot wheel of the 4th steering wheel module (D), in the grooving of the grooving of described the 6th rope (204) embedding second sheave (431) and the steering wheel end slot of the 4th steering wheel module (D) wheel, in the grooving of the grooving of described the 7th rope (201) embedding second sheave (431) and the steering wheel end slot of the 4th steering wheel module (D) wheel.
2. lasso transmission mechanical arm according to claim 1, it is characterized in that: on first output shaft (429), be provided with clip (427), on an intermediate plate of clip (427), be provided with sleeve pipe fixture (428), one end and the sleeve pipe fixture (428) of the 8th sleeve pipe (212) of the 8th lasso trick in eight lasso tricks offset, the other end of the 8th sleeve pipe (212) of the 8th lasso trick with offset with steering wheel fixed head (14), one end of the 8th rope (202) of the 8th lasso trick is connected with another intermediate plate of clip (427), the other end of the 8th rope (202) of the 8th lasso trick is connected with the steering wheel end slot wheel of the 5th steering wheel module (E), and, in the grooving of the steering wheel end slot wheel of the 8th rope (202) embedding the 5th steering wheel module (E).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810022839XA CN101332603B (en) | 2008-07-24 | 2008-07-24 | Lasso transmission mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810022839XA CN101332603B (en) | 2008-07-24 | 2008-07-24 | Lasso transmission mechanical arm |
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| CN101332603A CN101332603A (en) | 2008-12-31 |
| CN101332603B true CN101332603B (en) | 2010-09-01 |
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| CN200810022839XA Active CN101332603B (en) | 2008-07-24 | 2008-07-24 | Lasso transmission mechanical arm |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104626198B (en) * | 2014-12-24 | 2020-01-24 | 重庆花金王科技开发有限公司 | Transmission assembly and humanoid manipulator provided with same |
| CN106420256B (en) * | 2016-09-05 | 2018-11-09 | 南京航空航天大学 | Wearable flexible upper limb rehabilitation robot based on lasso trick driving |
| CN108927795A (en) * | 2017-05-22 | 2018-12-04 | 沈阳新松机器人自动化股份有限公司 | A kind of flexible driving mechanism arm and control system |
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| CN101332603A (en) | 2008-12-31 |
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