CN102672715B - One is help the disabled/is helped the elderly by rope driving machine mechanical arm - Google Patents
One is help the disabled/is helped the elderly by rope driving machine mechanical arm Download PDFInfo
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- CN102672715B CN102672715B CN201210149726.2A CN201210149726A CN102672715B CN 102672715 B CN102672715 B CN 102672715B CN 201210149726 A CN201210149726 A CN 201210149726A CN 102672715 B CN102672715 B CN 102672715B
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Abstract
The present invention relates to one to help the disabled/help the elderly by rope driving machine mechanical arm, mechanical arm structure comprises cyclarthrosis, up and down cradle head, horizontally rotates joint, the first articular link plate, slide block, guide rail, base driving box, drive motors and rope drive system.The drive motors of each cradle head is pacified and is turned in base driving box, utilizes rope drive system that the power of drive motors is passed to each cradle head, realizes the driving to cradle head.The invention solves in rope driving process incoercible problem that can only stretch, utilize rope drive system by power transmission to each joint, simplify the frame for movement of joint, significantly reduce the deadweight of mechanical arm, improve the load of mechanical arm from anharmonic ratio and dynamic property.This mechanical arm structure is simple, and security performance is high, and stroke range is large, and be particularly suitable for being arranged on wheelchair, care bed etc. are help the disabled on the equipment of helping the elderly.
Description
Technical field
The present invention relates to a kind of structure of use rope driving machine mechanical arm of helping the disabled/help the elderly.
Background technology
Mechanical arm is used widely in daily productive life.Driving mechanism is directly installed on joint by conventional machine mechanical arm, in order to overcome the larger weight of driving mechanism, must increase the power of drive motors and the intensity of frame for movement.Considerably increase weight and the rotary inertia of mechanical arm like this, reduce load capacity and exercise performance.In order to reduce the weight of mechanical arm, under meeting some occasion, high capacity is from anharmonic ratio and the quick requirement responded, and someone proposes single motor and drives and rope actuation techniques.
Single motor actuation techniques reduces the quantity of power source by the movement transferring changing mechanical arm, make whole mechanical arm only have a power source.But motor just shifts out by single motor actuation techniques from mechanical arm, and the devices such as speed adjusting gear are still arranged in mechanical arm, does not significantly alleviate the weight of mechanical arm, frame for movement also more complicated simultaneously.
Rope actuation techniques was coming into one's own in recent years gradually, and it is mainly through being all arranged on base driving box by motor and arrangements for speed regulation, is carried out the motion of driving joint, thus reduce the weight of mechanical arm significantly by rope.Rope actuation techniques can be divided into rope driven Parallel Kinematic Manipulator and rope to drive serial mechanism.Because rope can only bear the character of unidirectional pulling force, the power making parallel institution can only be realized mechanical arm by the quantity increasing motor and rope is closed, and adds energy consumption and complex structure degree; Parallel institution has its inborn shortcoming simultaneously, and namely working space is less, can not meet the requirement of the large working space of some occasion.Existing rope drives serial mechanism cannot solve joint motions coupling and the less problem of driving scope.
Summary of the invention
The object of the invention is to overcome prior art above shortcomings, provide one to help the disabled/help the elderly by rope driving machine mechanical arm, object of the present invention is achieved through the following technical solutions:
One is help the disabled/helps the elderly by rope driving machine mechanical arm, it is characterized in that comprising cyclarthrosis, up and down cradle head, horizontally rotating joint, the first articular link plate, slide block, guide rail, base driving box, drive motors and rope drive system, cyclarthrosis completes the rotation around axis, upper and lower cradle head completes swaying in vertical plane, horizontally rotates joint and completes swaying in horizontal plane; Cyclarthrosis, up and down cradle head and horizontally rotate joint and be connected in series, horizontally rotated between joint with slide block and be connected by articular link plate, and slide block to be arranged on guide rail and can to slide up and down along guide rail, and guide rail is fixed on base driving box; The all each freedom in each joint drive motors drives, complete rotating campaign, the drive motors in each joint is arranged in base driving box, each drive motors utilizes a drive system of restricting that power is passed to each joint separately, and the cabling of bracing wire in mechanical arm of each rope drive system is bent.
Further optimization, described in horizontally rotate joint number be more than three, the joint that horizontally rotates of more than three is installed in series by articular link plate, is also connected with slide block by articular link plate near the joint that horizontally rotates of slide block.
Further optimization, described rope drive system comprises active synchronization band, driving pulley, the first strap clamp, base sheath tube fixing device and two bracing wires; Described two bracing wires are made up of two first bracing wire sleeves and two first bracing wire steel wire ropes; Driving pulley is connected by flat key with drive motors, active synchronization band is enclosed within driving pulley, one end of two first bracing wire steel wire ropes is connected with the two ends of active synchronization band each via first strap clamp, first bracing wire sleeve is fixed on base driving box by base sheath tube fixing device, the other end of two first bracing wire steel wire ropes is connected with corresponding joint, comes pretension first bracing wire steel wire rope and active synchronization band by the installation site of adjusting base sleeve barrel fixing device; When drive motors rotates, active synchronization band drives a first bracing wire steel wire rope to move in the first bracing wire sleeve, first bracing wire rope belt movable joint rotates, joint pulls another root first bracing wire steel wire rope to move in bracing wire sleeve simultaneously, completes and the power of drive motors is passed to cradle head.
Further optimization, the cabling mode of described bracing wire is: all bracing wires are divided into two groups, bracing wire enters the joint mechanical arm near slide block by base driving box, eight elastic rings are evenly distributed on the both sides of this joint mechanical arm, namely there are four elastic rings side, each elastic ring is screwed on articular link plate, wherein after one group of first elastic ring through side, around the second elastic ring to opposite side, walk around the 3rd elastic ring more successively, 4th elastic ring, 9th elastic ring, by every root bracing wire around the joint to correspondence, after another group is drawstring through the 5th elastic ring, again successively through the 6th elastic ring, 7th elastic ring and the 8th elastic ring, by every root bracing wire around the joint to correspondence, the shape of bracing wire cabling is bent method for winding by this kind, makes bracing wire can accumulate the bracing wire of certain additional length in each joint mechanical arm, the effect of elastic ring mainly arranges bracing wire, and elastic ring has elasticity can be stretched and shorten, and when joint motions, the bracing wire of bent can be straightened gradually, meets needs during articulation.
Further optimization, described base sheath tube fixing device comprises base sleeve and fixes upper plate and lower plate fixed by base sleeve, base sleeve is fixed lower plate and is placed on base driving box, base sleeve is fixed upper plate and is placed on base sleeve and fixes in lower plate, uses bolt passing through bolt hole base sleeve to be fixed upper plate and base sleeve and fixes lower plate and be fixed on base driving box.
Further optimization, described in horizontally rotate joint and comprise the first fixed head, the second fixed head, the 3rd fixed head, the 4th fixed head, the first angular contact ball bearing, the second angular contact ball bearing, horizontally rotate joint shaft, straight pin, passive belt wheel, passive and synchronous band; First fixed head, the second fixed head are arranged on two pieces of articular link plates, and the 3rd fixed head, the 4th fixed head are arranged on other two pieces of articular link plates; First angular contact ball bearing and the second angular contact ball bearing are arranged in the first fixed head and the second fixed head with face-to-face mounting means respectively, to do axially and radial fixing horizontally rotating joint shaft, the 3rd fixed head by straight pin with horizontally rotate joint shaft and be connected; Passive belt wheel is arranged between two bearings, and passive and synchronous band is enclosed within passive belt wheel, and its two ends are connected with driving the bracing wire steel wire rope in this joint respectively by the second strap clamp; When this bracing wire steel wire rope pulls, drive passive belt wheel by passive and synchronous band and horizontally rotate joint shaft and rotate, thus drive the 3rd fixed head, the 4th fixed head rotation.
Further optimization, described upper and lower cradle head comprises two deep groove ball bearings, two pieces of second joint connecting plates, about two pieces rotary articulated arms, upper and lower cradle head axles; Two deep groove ball bearings are arranged in two pieces of second joint connecting plates respectively, and the two ends of upper and lower cradle head axle are arranged in two deep groove ball bearings, and upper and lower rotary articulated arm is connected with upper and lower cradle head axle by flat key; Second bracing wire sleeve is fixed by the second sleeve barrel fixing device, the the second bracing wire steel wire rope stretched out from the second sleeve barrel fixing device is around the first winding slot, its end compression first screw is fixed, another root bracing wire steel wire rope is around on another first winding slot of upper and lower cradle head axle, identical with a upper winding, around on the contrary.
Further optimization, described cyclarthrosis comprises two deep groove ball bearings, the 5th fixed head, the 6th fixed head, cyclarthrosis axle; Two deep groove ball bearings are arranged in the 5th fixed head and the 6th fixed head respectively, and two pieces of fixed heads are arranged on upper and lower rotary articulated arm, and cyclarthrosis axle is arranged in two deep groove ball bearings; 3rd bracing wire sleeve is fixed by the 3rd sleeve barrel fixing device, after reel walked around by the 3rd bracing wire steel wire rope stretched out from the 3rd sleeve barrel fixing device, around on the second winding slot, its end housing screw is fixed, another root bracing wire steel wire rope is identical with a upper winding, around on the contrary.
Further optimization, the active synchronization strip length that described driving horizontally rotates joint should be at least the girth that is positioned at passive belt wheel pitch circle on this joint be positioned at drive this joint drive motors on half girth sum of driving pulley pitch circle, drive the base sheath tube fixing device of the rope drive system in this joint to be at least the girth of passive belt wheel pitch circle on joint to the distance of the axle of this drive motors, rotate within the scope of 360 ° that just can ensure to horizontally rotate joint; Drive the active synchronization strip length of upper and lower cradle head should to be at least on the first winding slot two second bracing wire rope capacities be positioned at drive this joint drive motors on half girth sum of driving pulley pitch circle, drive the base sheath tube fixing device of the rope drive system in this joint to be at least two second bracing wire rope capacities on the first winding slot to the distance of the axle of this drive motors, just can ensure that upper and lower cradle head at least can be cooked 180 ° of rotations; Drive the active synchronization strip length of cyclarthrosis should to be at least on the second winding slot two the 3rd bracing wire rope capacities be positioned at drive this joint drive motors on half girth sum of driving pulley pitch circle, drive the base sheath tube fixing device of the rope drive system in this joint to be at least two the 3rd bracing wire rope capacities on the second winding slot to the distance of the axle of this drive motors, just can ensure that cyclarthrosis at least can do 180 ° of rotations.
Above-mentioned helps the disabled/helps the elderly with in rope driving machine mechanical arm, and the power of drive motors is delivered to each cradle head by driving pulley, active synchronization band and two bracing wires.Horizontally rotate joint the completes bracing wire steel wire rope conversion moving to articulation by passive belt wheel and passive and synchronous band; Upper and lower cradle head and cyclarthrosis by by two bracing wire steel wire ropes with different around to around on the winding slot of axle, complete the conversion moving to articulation of bracing wire steel wire rope.Bracing wire is divided into two groups, and bracing wire enters the joint mechanical arm near slide block by base driving box.Elastic ring is screwed on articular link plate, and articular link plate is uniformly distributed, and two groups of bracing wires pass elastic ring with bent respectively from the not homonymy of mechanical arm.
Above-mentioned helps the disabled/helps the elderly with in rope driving machine mechanical arm, and described rope drive system utilizes two bracing wires, active synchronization band and driving pulley to come the power transmission of the drive motors being positioned at base driving box to cradle head place.
Above-mentioned help the disabled/help the elderly with in rope driving machine mechanical arm, described in horizontally rotate in joint, passive belt wheel is arranged between two angular contact ball bearings, by flat key with horizontally rotate joint shaft and connect.3rd fixed head and the 4th fixed head are arranged on other two pieces of articular link plates, the 3rd fixed head with horizontally rotate joint shaft and connected by pin.Passive and synchronous band is enclosed within passive belt wheel, and two ends are connected with driving two bracing wire steel wire ropes in this joint respectively, drives passive and synchronous band and joint motions by pulling of bracing wire steel wire rope.
Above-mentioned helps the disabled/helps the elderly with in rope driving machine mechanical arm, elastic ring has elasticity and can be stretched, when joint motions, the bracing wire of bent can be straightened gradually, this kind of method for winding makes bracing wire in each joint mechanical arm, accumulate the bracing wire of certain additional length, meet when articulation, need the requirement of longer bracing wire, and bracing wire is distributed neatly in mechanical arm.
Compared with prior art, tool of the present invention has the following advantages and effect:
The drive motors of all cradle heads is arranged in base driving box by the present invention, utilize rope drive system by power transmission to each joint, simplify the frame for movement of joint, significantly reduce the deadweight of mechanical arm, improve the load of mechanical arm from anharmonic ratio and dynamic property.Utilize two bracing wires to drive a joint, and apply the rope driving method of certain pretightning force to bracing wire, solving rope driving can only stretch, incoercible one-way problem.Adopt bracing wire Wiring method proposed by the invention, the need of work of this mechanical arm can be met, and solve the multi-thread interference problem of rope driving.Use the bracing wire be made up of bracing wire steel wire rope and bracing wire sleeve, by the end winding support of sleeve, drive motors drive bracing wire steel wire rope is mobile in bracing wire sleeve reaches transmission object.The motion in a joint can not have an impact to other joint, avoids the problem of joint motions coupling in rope driving.Mechanical arm adopts serial structure, the problem that the working space power that is less and that need the quantity by increasing motor and rope to realize mechanical arm overcoming parallel-connection structure closes, and simplifies control algolithm, reduces control difficulty.Drive compared with cascade machine mechanical arm with restricting in the past, rope driving scope of the present invention is comparatively large, and horizontally rotate joint and can realize rotation 360 ° within the scope of, upper and lower cradle head and cyclarthrosis can realize the rotation of at least 180 °.
In a word, the rope drive system of the present invention's proposition, significantly can alleviate the complexity of mechanical arm deadweight and mechanism, improve mechanical arm dynamic property, solves the little problem be coupled with joint motions of range of motion in actuation techniques of in the past restricting; Adopt modular design concept, can according to Action Target requirement, the pass joint number of increase or reduce engine mechanical arm, range of application is wider.This mechanical arm structure is applicable to be arranged on wheelchair, care bed etc. and helps the disabled on the equipment of helping the elderly, can effectively help the elderly, disabled person realize take care of oneself.Main body adopts flapping articulation structure, can prevent mechanical arm from falling when power-off and injure personnel by a crashing object, have higher security.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of use rope driving machine mechanical arm of helping the disabled/help the elderly in embodiment.
Fig. 2 be connected with slide block 5 by articular link plate in Fig. 1 horizontally rotate joint and the structure principle chart of drive system of restricting.
Fig. 3 is the structure principle chart of base sheath tube fixing device 13 one end in Fig. 2.
Fig. 4 is the structural representation horizontally rotating joint 3 in Fig. 1.
Fig. 5 is the structural representation of upper and lower cradle head 2 in Fig. 1.
Fig. 6 is the structural representation of cyclarthrosis 1 in Fig. 1.
Fig. 7 be connected with slide block 5 one save bracing wire sleeve cabling schematic diagram in mechanical arm.
Detailed description of the invention
Below in conjunction with accompanying drawing, specific embodiment of the invention is described further, but enforcement of the present invention and protection domain are not limited thereto.
Driving box design in present embodiment: five cradle head drive motors are fixed on base driving box, and motor shaft is connected by flat key with driving pulley.The length that active synchronization band is selected is relevant with driven joint.The girth driving the active synchronization strip length horizontally rotating joint to be at least to be positioned at passive belt wheel pitch circle on this joint be positioned at drive this joint drive motors on half girth sum of driving pulley pitch circle, drive the base sheath tube fixing device of the rope drive system in this joint to be at least the girth of passive belt wheel pitch circle on joint to the distance of the axle of this drive motors, rotate within the scope of 360 ° that just can ensure to horizontally rotate joint; Drive the active synchronization strip length of upper and lower cradle head should to be at least on the first winding slot two second bracing wire rope capacities be positioned at drive this joint drive motors on half girth sum of driving pulley pitch circle, drive the base sheath tube fixing device of the rope drive system in this joint to be at least two second bracing wire rope capacities on the first winding slot to the distance of the axle of this drive motors, just can ensure at least 180 ° of rotations of upper and lower cradle head; Drive the active synchronization strip length of cyclarthrosis should to be at least on the second winding slot two the 3rd bracing wire rope capacities be positioned at drive this joint drive motors on half girth sum of driving pulley pitch circle, drive the base sheath tube fixing device of the rope drive system in this joint to be at least two the 3rd bracing wire rope capacities on the second winding slot to the distance of the axle of this drive motors, just can ensure at least 180 ° of rotations of cyclarthrosis.Active synchronization band two ends are connected with two bracing wire steel wire ropes by synchronous clamping, and bracing wire steel wire rope sleeve is fixed by base sheath tube fixing device, come pretension bracing wire steel wire rope and active synchronization band by the installation site of adjusting base sleeve barrel fixing device.
The design in each joint: comprise and horizontally rotate joint, upper and lower cradle head and cyclarthrosis.
Describedly horizontally rotate joint and comprise the first fixed head, the second fixed head, the 3rd fixed head, the 4th fixed head, the first angular contact ball bearing, the second angular contact ball bearing, horizontally rotate joint shaft, straight pin, passive belt wheel and passive and synchronous band.First fixed head, the second fixed head are fixed on two pieces of articular link plates, and the first angular contact ball bearing, the second angular contact ball bearing are arranged in the first fixed head, the second fixed head face-to-face respectively, realize horizontally rotating the axis of joint shaft and radial fixing.Belt wheel is arranged between two angular contact ball bearings, and horizontally rotates joint shaft and is connected by flat key.3rd fixed head, the 4th fixed head are fixed on another two pieces of articular link plates, the 3rd fixed head by pin with horizontally rotate joint shaft and be connected.Passive and synchronous band is enclosed within after on passive belt wheel, pulls passive and synchronous band by two bracing wire steel wire ropes, drives flapping articulation axle to rotate.
Described upper and lower cradle head comprises two deep groove ball bearings, about two pieces rotation second joint connecting plates, about two pieces rotary articulated arms and upper and lower cradle head axles.Two deep groove ball bearings are arranged in two pieces of second joint connecting plates respectively, and the two ends of upper and lower cradle head axle are arranged in two deep groove ball bearing inner rings, and about two pieces rotary articulated arms are connected with upper and lower cradle head axle by flat key.Two bracing wire steel wire ropes respectively with contrary winding direction around on two the first winding slots, bracing wire steel cord ends is fixed by housing screw.By pulling bracing wire steel wire rope on the first winding slot, upper and lower cradle head axle and upper and lower rotary articulated arm are rotated.
Described cyclarthrosis comprises two deep groove ball bearings, the 5th fixed head, the 6th fixed head and cyclarthrosis axle.Two deep groove ball bearings are arranged in the 5th fixed head and the 6th fixed head respectively, and the two ends of cyclarthrosis axle are arranged in bearing inner race, and the end effectors such as manipulator can be arranged on the reserved location on cyclarthrosis axle.Two bracing wire steel wire ropes are with contrary around to respectively around in the second winding slot of two on cyclarthrosis axle, and bracing wire steel cord ends is fixed by housing screw, and two bracing wire steel wire ropes change direction of routing respectively by two reels.By pulling around the bracing wire steel wire rope on the second winding slot, cyclarthrosis axle is rotated.
Below in conjunction with accompanying drawing, specific embodiment of the invention is described in further detail, but enforcement of the present invention is not limited thereto.
1. be illustrated in figure 1 the overall structure schematic diagram of a kind of use rope driving machine mechanical arm of helping the disabled/help the elderly in embodiment.Whole mechanical arm comprises cyclarthrosis 1, upper and lower cradle head 2, horizontally rotates joint 3, first articular link plate 4, slide block 5, guide rail 6, base driving box 7, drive motors 8 and drive system of restricting.Mechanical arm connects three by the first articular link plate 4 and horizontally rotates joint, and slide block 5 is arranged on guide rail 6, can slide up and down on guide rail 6, and guide rail 6 is fixed on base driving box 7, and the drive motors 8 of each cradle head is installed in base driving box 7.The power of drive motors 8 is sent to each cradle head by rope drive system.Horizontally rotate joint 3 can realize rotating within the scope of 360 °, upper and lower cradle head 2 can realize the rotation up and down of at least 180 °, and cyclarthrosis 1 can realize the rotation of at least 180 °.
2. be illustrated in figure 2 be connected with slide block 5 by articular link plate in Fig. 1 horizontally rotate joint and the structure principle chart of drive system of restricting.Drive motors 8 is arranged on base driving box 7, is connected with active synchronization belt wheel 9 by flat key.The length that active synchronization band is selected is relevant with driven joint.The girth driving the active synchronization strip length horizontally rotating joint to be at least to be positioned at passive belt wheel pitch circle on this joint be positioned at drive this joint drive motors on half girth sum of driving pulley pitch circle, drive the base sheath tube fixing device of the rope drive system in this joint to be at least the girth of passive belt wheel pitch circle on joint to the distance of the axle of this drive motors, rotate within the scope of 360 ° that just can ensure to horizontally rotate joint; Drive the active synchronization strip length of upper and lower cradle head should to be at least on the first winding slot two second bracing wire rope capacities be positioned at drive this joint drive motors on half girth sum of driving pulley pitch circle, drive the base sheath tube fixing device of the rope drive system in this joint to be at least two second bracing wire rope capacities on the first winding slot to the distance of the axle of this drive motors, just can ensure at least 180 ° of rotations of upper and lower cradle head; Drive the active synchronization strip length of cyclarthrosis should to be at least on the second winding slot two the 3rd bracing wire rope capacities be positioned at drive this joint drive motors on half girth sum of driving pulley pitch circle, drive the base sheath tube fixing device of the rope drive system in this joint to be at least two the 3rd bracing wire rope capacities on the second winding slot to the distance of the axle of this drive motors, just can ensure at least 180 ° of rotations of cyclarthrosis.One end of two first bracing wire steel wire ropes 12 is connected with the two ends of active synchronization band 10 respectively, realized the connection of the first bracing wire steel wire rope 12 and active synchronization band 10 by the first strap clamp, one end of two first bracing wire sleeves 14 is fixed on base driving box 7 by base sheath tube fixing device 13.By the installation site of adjustment base sheath tube fixing device 13 on mounting groove 16, carry out pretension two bracing wire steel wire ropes.
Simultaneously this kind of rope drive system utilizes two bracing wires to drive the motion in a joint, can overcome the driving of general rope and can only to stretch incoercible shortcoming.Two ropes only need bear pulling force, need not bear compression stress, just can complete the driving to the motion of joint both forward and reverse directions.When drive motors rotates to certain direction, active synchronization band 10 is driven to move, thus drive a first bracing wire steel wire rope 12 to move in the first bracing wire sleeve 14, bracing wire steel wire rope near joint drives the passive and synchronous band 17 or cradle head axle or the motion of cyclarthrosis axle up and down that are positioned on joint, thus drives articulation.
Be illustrated in figure 3 the structure principle chart of base sheath tube fixing device 13 one end in Fig. 2.Base sheath tube fixing device 13 comprises base sleeve and fixes upper plate 18 and lower plate 19 fixed by base sleeve, two pieces of fixed heads there are respectively two radiuses equal the semicircle 21 of bracing wire sleeve outer wall radius, with bolt passing through bolt hole 20 and mounting groove 16, two pieces of sleeve fixed heads are clamped and is fixed on base driving box, the end of bracing wire sleeve just can be fixed.
3. be illustrated in figure 4 in Fig. 1 the structural representation horizontally rotating joint 3.First fixed head 22 and the second fixed head 23 are fixed by screws on two piece of first articular link plate 4, and the 3rd fixed head 24 and the 4th fixed head 25 are fixed by screws on other two piece of first articular link plate 4.First angular contact bearing 28 is arranged in the first fixed head 22, and the second angular contact bearing 29 is arranged in the second fixed head 23, and two angular contact bearings are installed face-to-face, makes to horizontally rotate joint shaft 27 axially and fix in the radial direction.3rd fixed head 24 with horizontally rotate joint shaft 27 and connected by straight pin 26.Passive belt wheel 30 is arranged between the first angular contact bearing 28 and the second angular contact bearing 29, by flat key with horizontally rotate joint shaft 27 and connect.Passive and synchronous band 31 is enclosed within passive belt wheel 30, and the length of passive and synchronous band 31 should be at least 1.5 times of passive belt wheel 30 pitch circumference, rotates within the scope of 360 ° that guarantee horizontally rotates joint.
4. be illustrated in figure 5 the structural representation of upper and lower cradle head 2 in Fig. 1.Second joint connecting plate 32 is fixed on and horizontally rotates on joint 3.Two axle heads of upper and lower cradle head axle 38 install deep groove ball bearing 39 respectively, and two deep groove ball bearings 39 are arranged in two pieces of second joint connecting plates 32 respectively.Upper and lower rotary articulated arm 40 is connected with upper and lower cradle head axle 38 by flat key.Upper and lower cradle head axle 38 has the width of two the first winding slot 36, first winding slots 36 and the equal diameters of the degree of depth and the second bracing wire steel wire rope 35.Second bracing wire sleeve 34 of a bracing wire is fixed by the second sleeve barrel fixing device 33, from the second sleeve barrel fixing device 33, the second bracing wire steel wire rope 35 is out from lower to upper around on the first winding slot 36, after walking around half winding slot, its end the first screw 37 is fixed.Another root bracing wire steel wire rope to rewind mutually to around on another first winding slot, walk around half winding slot from top to bottom, its end is screwed.
When a bracing wire steel wire rope pulls, upper and lower cradle head axle is driven to rotate along the direction that bracing wire steel wire rope pulls, this root bracing wire steel wire rope reduces gradually around the length on the first winding slot simultaneously, and another root bracing wire steel wire rope increases gradually around the length on the first winding slot, complete the driving to upper and lower cradle head.
5. be illustrated in figure 6 the structural representation of cyclarthrosis 1 in Fig. 1.5th fixed head 49 and the 6th fixed head 50 of cyclarthrosis 1 are arranged on about two pieces rotary articulated arms 40.The two axial ends of cyclarthrosis axle 46 is installed in deep groove ball bearing 47 respectively, and two deep groove ball bearings 47 are arranged in the 5th fixed head 49 and the 6th fixed head 50 respectively.Cyclarthrosis axle 46 has the width of two the second winding slot 44, second winding slots 44 and the equal diameters of the degree of depth and the 3rd bracing wire steel wire rope 43.3rd bracing wire sleeve 42 is fixed by the 3rd sleeve barrel fixing device 41, after walking around reel 48 from the 3rd sleeve barrel fixing device 41 the 3rd bracing wire steel wire rope 43 out, around on the second winding slot 44, after walking around half-turn, the 3rd bracing wire steel wire rope 43 end the second screw 45 is fixed.The effect of reel changes bracing wire steel wire rope direction of winding.After another reel walked around by another root bracing wire steel wire rope, around on another second winding slot, around to upper one contrary.
When a bracing wire steel wire rope pulls, cyclarthrosis axle is driven to rotate along the direction that bracing wire steel wire rope pulls, this root bracing wire steel wire rope shortens gradually around the length on the second winding slot simultaneously, and another root bracing wire steel wire rope lengthens gradually around the length on winding slot, complete the driving to cyclarthrosis.
6. be illustrated in figure 7 be connected with slide block 5 one save bracing wire sleeve cabling schematic diagram in mechanical arm.Bracing wire Wiring method is for be divided into two groups by all bracing wires, and bracing wire enters the joint mechanical arm near slide block by base driving box.Elastic ring is screwed on articular link plate, articular link plate is uniformly distributed, wherein after one group of first elastic ring 51 through side, around the second elastic ring 52 to opposite side, walk around the 3rd elastic ring 53, the 4th elastic ring 54, the 9th elastic ring 55 more successively, by every root bracing wire around the joint to correspondence; After another group is drawstring through the 5th elastic ring 61, more successively through the 6th elastic ring 62, the 7th elastic ring 63 and the 8th elastic ring 64, by every root bracing wire around the joint to correspondence.
The Wiring method of this bent can make bracing wire accumulate certain additional length in each joint mechanical arm, and makes bracing wire neat.Elastic ring can be stretched, and therefore the bracing wire of bent can by stretching gradually, the requirement of the bracing wire that needs are more grown when meeting articulation.
From the above, the structure of the rope driving machine mechanical arm that the present invention proposes and method, compared with other driving machine mechanical arm of restricting, have structure simple, space is large, without advantages such as joint sports couplings, and effectively can alleviate the weight of mechanical arm, improve manipulator bearing capacity and and dynamic property; In the present invention, each drive motors drives a cradle head, during the rotation of drive motors, active synchronization band pulls a bracing wire steel wire rope, another root bracing wire steel wire rope is pulled by cradle head, in whole driving process, bracing wire steel wire rope remains tension, solves rope driving and can only to stretch incoercible one-way problem; The bracing wire Wiring method that the present invention proposes, utilizes the cabling of bent often saving in mechanical arm the bracing wire of accumulating certain additional length, can meet the requirement of the longer bracing wire of needs when articulation, and make bracing wire more neat in mechanical arm.
Claims (6)
1. help the disabled/help the elderly by rope driving machine mechanical arm for one kind, it is characterized in that comprising cyclarthrosis (1), upper and lower cradle head (2), horizontally rotating joint (3), articular link plate, slide block (5), guide rail (6), base driving box (7), drive motors (8) and drive system of restricting, wherein, cyclarthrosis (1) completes the rotation around axis, upper and lower cradle head (2) completes swaying in vertical plane, horizontally rotates joint (3) and completes swaying in horizontal plane; Cyclarthrosis (1), up and down cradle head (2) and horizontally rotate joint (3) and be connected in series, horizontally rotate between joint (3) with slide block (5) and be connected by articular link plate, slide block (5) is arranged on guide rail (6) and goes up and can slide up and down along guide rail (6), and guide rail (6) is fixed on base driving box (7); The all each freedom in each joint drive motors drives, complete rotating campaign, the drive motors in each joint is arranged in base driving box, each drive motors utilizes a drive system of restricting that power is passed to each joint separately, and the cabling of bracing wire in mechanical arm of each rope drive system is bent; Horizontally rotating joint number is more than three, and the joint that horizontally rotates of more than three is installed in series by articular link plate;
Described rope drive system comprises active synchronization band (10), driving pulley (9), the first strap clamp (11), base sheath tube fixing device (13) and two bracing wires, described two bracing wires are made up of two first bracing wire sleeves (14) and two first bracing wire steel wire ropes (12), driving pulley (9) is connected by flat key with drive motors (8), active synchronization band (10) is enclosed within driving pulley (9), one end of two first bracing wire steel wire ropes (12) is connected with the two ends of active synchronization band (10) each via first strap clamp (11), first bracing wire sleeve (14) is fixed on base driving box (7) by base sheath tube fixing device (13) i.e. first set tube fixing device, the other end of two first bracing wire steel wire ropes (12) is connected with corresponding joint, pretension first bracing wire steel wire rope (12) and active synchronization band (10) is come by the installation site of adjusting base sleeve barrel fixing device (13), when drive motors rotates, active synchronization band (10) drives a first bracing wire steel wire rope (12) mobile in the first bracing wire sleeve (14), first bracing wire steel wire rope (12) drives articulation, joint pulls another root first bracing wire steel wire rope (12) to move in another root first bracing wire sleeve simultaneously, completes and the power of drive motors is passed to cradle head,
The cabling mode of described bracing wire is: all bracing wires are divided into two groups, bracing wire enters the joint mechanical arm near slide block by base driving box, eight elastic rings are evenly distributed on the both sides of this joint mechanical arm, namely there are four elastic rings side, each elastic ring is screwed on articular link plate, wherein after one group of first elastic ring (51) through side, around the second elastic ring (52) to opposite side, walk around the 3rd elastic ring (53) more successively, 4th elastic ring (54), 9th elastic ring (55), by every root bracing wire around the joint to correspondence, after another group is drawstring through the 5th elastic ring (61), again successively through the 6th elastic ring (62), 7th elastic ring (63) and the 8th elastic ring (64), by every root bracing wire around the joint to correspondence.
2. one according to claim 1 is help the disabled/helps the elderly by rope driving machine mechanical arm, it is characterized in that described base sheath tube fixing device (13) comprises base sleeve and fixes upper plate (18) and lower plate (19) fixed by base sleeve, base sleeve is fixed lower plate (19) and is placed on base driving box (7), base sleeve is fixed upper plate (18) and is placed on base sleeve and fixes in lower plate (19), uses bolt passing through bolt hole (20) base sleeve to be fixed upper plate (18) and base sleeve and fixes lower plate (19) and be fixed on base driving box (7).
3. one according to claim 1 is help the disabled/is helped the elderly by rope driving machine mechanical arm, horizontally rotates joint (3) and comprise the first fixed head (22), the second fixed head (23), the 3rd fixed head (24), the 4th fixed head (25), the first angular contact ball bearing (28), the second angular contact ball bearing (29), horizontally rotate joint shaft (27), straight pin (26), passive belt wheel (30), passive and synchronous band (31) described in it is characterized in that; First fixed head (22), the second fixed head (23) are arranged on two piece of first articular link plate, and the 3rd fixed head (24), the 4th fixed head (25) are arranged on other two piece of first articular link plate; First angular contact ball bearing (28) and the second angular contact ball bearing (29) are arranged in the first fixed head (22) and the second fixed head (23) with face-to-face mounting means respectively, to do axially and radial fixing horizontally rotating joint shaft (27), the 3rd fixed head (24) by straight pin (26) with horizontally rotate joint shaft (27) and be connected; Passive belt wheel (30) is arranged between two bearings, and passive and synchronous band (31) is enclosed within passive belt wheel (30), and its two ends are connected with driving the bracing wire steel wire rope in this joint respectively by the second strap clamp (71); When this bracing wire steel wire rope pulls, drive passive belt wheel (30) by passive and synchronous band (31) and horizontally rotate joint shaft (27) and rotate, thus drive the 3rd fixed head (24), the 4th fixed head (25) rotation.
4. one according to claim 3 is help the disabled/is helped the elderly by rope driving machine mechanical arm, it is characterized in that described upper and lower cradle head (2) comprises two deep groove ball bearings (39), two pieces of second joint connecting plates (32), about two pieces rotary articulated arms (40), up and down cradle head axle (38); Two deep groove ball bearings (39) are arranged in two pieces of second joint connecting plates (32) respectively, the two ends of upper and lower cradle head axle (38) are arranged in two deep groove ball bearings (39), and upper and lower rotary articulated arm (40) is connected with upper and lower cradle head axle (38) by flat key; Upper and lower cradle head axle (38) has two the first winding slots (36), second bracing wire sleeve (34) is fixed by the second sleeve barrel fixing device (33), the the second bracing wire steel wire rope (35) stretched out from the second sleeve barrel fixing device (33) is around the first winding slot (36), its end compression first screw (37) is fixed, another root second bracing wire steel wire rope stretched out from another second sleeve barrel fixing device (33) is around another first winding slot of upper and lower cradle head axle (38), identical with a upper winding, around on the contrary.
5. one according to claim 4 is help the disabled/is helped the elderly by rope driving machine mechanical arm, it is characterized in that described cyclarthrosis (1) comprises two deep groove ball bearings (47), the 5th fixed head (49), the 6th fixed head (50), cyclarthrosis axle (46); Two deep groove ball bearings (47) are arranged in the 5th fixed head (49) and the 6th fixed head (50) respectively, two pieces of fixed heads are arranged on upper and lower rotary articulated arm (40), and cyclarthrosis axle (46) is arranged in two deep groove ball bearings (47); Cyclarthrosis axle (46) has two the second winding slots (44), 3rd bracing wire sleeve (42) is fixed by the 3rd sleeve barrel fixing device (41), after reel (48) walked around by the 3rd bracing wire steel wire rope (43) stretched out from the 3rd sleeve barrel fixing device (41), around on the second winding slot (44), the end housing screw of the 3rd bracing wire steel wire rope (43) is fixed, another root the 3rd bracing wire steel wire rope stretched out from another the 3rd sleeve barrel fixing device (41) is identical with a upper winding, around on the contrary.
6. one according to claim 5 is help the disabled/helps the elderly by rope driving machine mechanical arm, the girth that it is characterized in that driving the active synchronization strip length horizontally rotating joint to be at least being positioned at passive belt wheel pitch circle on this joint be positioned at drive this joint drive motors on half girth sum of driving pulley pitch circle, drive the base sheath tube fixing device of the rope drive system in this joint to be at least the girth of passive belt wheel pitch circle on joint to the distance of the axle of this drive motors, make to horizontally rotate joint and rotate within the scope of 360 °; Drive the active synchronization strip length of upper and lower cradle head should to be at least on the first winding slot two second bracing wire rope capacities be positioned at drive this joint drive motors on half girth sum of driving pulley pitch circle, drive the base sheath tube fixing device of the rope drive system in this joint to be at least two second bracing wire rope capacities on the first winding slot to the distance of the axle of this drive motors, make upper and lower cradle head at least can do 180 ° of rotations; Drive the active synchronization strip length of cyclarthrosis should to be at least on the second winding slot two the 3rd bracing wire rope capacities be positioned at drive this joint drive motors on half girth sum of driving pulley pitch circle, drive the base sheath tube fixing device of the rope drive system in this joint to be at least two the 3rd bracing wire rope capacities on the second winding slot to the distance of the axle of this drive motors, make cyclarthrosis at least can do 180 ° of rotations.
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| CN201210149726.2A CN102672715B (en) | 2012-05-15 | 2012-05-15 | One is help the disabled/is helped the elderly by rope driving machine mechanical arm |
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