CN102814821A - Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes - Google Patents
Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes Download PDFInfo
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- CN102814821A CN102814821A CN2012103415089A CN201210341508A CN102814821A CN 102814821 A CN102814821 A CN 102814821A CN 2012103415089 A CN2012103415089 A CN 2012103415089A CN 201210341508 A CN201210341508 A CN 201210341508A CN 102814821 A CN102814821 A CN 102814821A
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Abstract
The invention discloses a mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes. The mechanical arm high-angle controllable rotary joint device is characterized in that a front-stage mechanical arm and a rear-stage mechanical arm are connected through a rotation shaft and a bearing and rotate relative to each other; a steel wire wheel disc is fixed between an upper boss and a lower boss of the front-stage mechanical arm; a shaft of an angle sensing output device which is arranged in a cavity in the middle of a flange at one end of a rotation shaft of the steel wire wheel disc is coaxial with the rotation shaft and rotates synchronously with the rotation shaft; two driving steel wire ropes are clamped on groove through holes through ball heads and are wound in a U-shaped groove of the rim of the steel wire wheel disc; and a steel wire rope pre-tightening device is used for adjusting pre-tightening force of the driving steel wire ropes through adjustment screws. According to the joint device provided by the invention, the joint displacement can be obtained in real time so that the accurate control of joints is realized; and the relative sliding does not occur between each steel wire rope and the steel wire wheel disc, so that the rolling contact is realized between each steel wire rope and the steel wire rope pre-tightening device, the frictional loss is small, the steel wire rope transfer efficiency is high and the applicability is brought to the serial-connect expansion of the multi-stage mechanical arms.
Description
Technical field
The invention belongs to the joint of mechanical arm technical field, be specifically related to the controlled rotary type joint device of mechanical arm wide-angle that double-steel wire rope drives.
Background technology
The existing mechanical arm is formed by multistage joint serial connection usually, and as the support component of end-effector, is used for multiple degrees of freedom pose such as far-end is controlled, target detection more and keeps away the occasion that barrier is used.The controlled rotary type joint structure of mechanical arm is the key element of terminal positioning accuracy of decision mechanical arm and spatial movement ability.
In narrow and small depth space; It is higher that keeping away of mechanical arm hindered Capability Requirement; For the deadweight that alleviates the multi-stage serial connection mechanical arm carries ability to improve its end, up to the present steel wire rope is used for the joint and drives existing more application, mainly utilize steel wire rope to be wrapped in the mode on driving wheel or the driving shaft; Rely on the frictional force transferring power of twining part between steel wire rope and driving wheel or the driving shaft; Because steel wire rope twines to exist between part and driving wheel or the driving shaft and trackslips relatively, the transmission efficiency of steel wire rope is not high, and the joint control accuracy is low; Therefore need the transmission efficiency of enough steel wire rope pretightning forces with the raising steel wire rope, and having relatively high expectations to the steel wire rope pre-tightening apparatus.
The large angle rotary type joint mechanism of a kind of mechanical arm that one Chinese patent application publication number CN 101323110A proposes; Wherein the first steel wire wheel disc, the 3rd steel wire wheel disc and first joint shaft are fixedly mounted on the root of the first arm respectively; The second steel wire wheel disc, the 4th steel wire wheel disc and second joint axle are fixedly mounted on the root of second arm respectively; The joint shaft connecting rod is installed on first joint shaft and the second joint axle, and the axis of edge first joint shaft and second joint axle freely rotates respectively.First steel wire rope to the, four steel wire ropes are wrapped in respectively on the U type groove of the first steel wire wheel disc to the, four steel wire wheel discs, are 8 word shapes after the winding and keep tensioning state.Though this structure can realize the large-angle slewing of joint near positive and negative 180 degree; But this joint does not have the active movement function; It utilizes the frictional force transferring power between steel wire rope and wire rope pulley, and transmission efficiency is low, and is difficult to realize the uniformity of four steel wire rope pretightning forces adjustings.
A kind of wire cable transmission mechanism that is used for mechanical arm that Chinese patent notification number CN 100443770C is introduced, the cross section of big arm and forearm all is a hollow tube-shape; The forearm driving shaft is provided with the V-shaped groove structure and is used for lay winding wire ropes, and forearm driving shaft two ends are installed in big arm roots through bearing, and big arm driving shaft is fixed on big arm roots, keeps coaxial with the forearm driving shaft; The forearm driven shaft also is provided with the V-shaped groove structure and is used for lay winding wire ropes; Be fixedly connected with the forearm root; Two ends are installed in big arm top through bearing, and steel wire rope is wrapped between the V-shaped groove of forearm driving shaft and forearm driven shaft and keeps tensioning state, and the end of steel wire rope is fixed on the forearm; The steel wire rope stretching device integral installation is inner at big arm, between forearm driving shaft and the forearm driven shaft, the balance each other adjustment of realization steel wire rope effective tension of the effective tension through pulling force between adjustment bolt and the tensioning adjustment rod and steel wire rope transmission process.The steel wire rope of this mechanism is wrapped between the V-shaped groove of forearm driving shaft and forearm driven shaft, drives forearm through stiction and rotates with respect to big arm, and forearm driving shaft and steel wire rope twine to exist between the part and trackslip relatively; The transmission efficiency of steel wire rope is not high; The joint control accuracy is low, and its steel wire rope stretching device integral installation is inner at big arm, regulates inconvenient; Because it is big to exist friction to consume between tensioning adjustment rod and the steel wire rope, wire rope transfers efficient is not high.
Summary of the invention
The purpose of this invention is to provide the controlled rotary type joint device of mechanical arm wide-angle that a kind of double-steel wire rope drives; To solve the problem of trackslipping between steel wire rope and joint driving wheel or the driving shaft; Reduce the frictional dissipation in the steel wire rope pretension process, improve the control accuracy in wire rope transfers efficient and joint.
The controlled rotary type joint device of mechanical arm wide-angle that double-steel wire rope of the present invention drives is characterized in that:
The card of steel wire wheel disc has the card through hole that is uniformly distributed along the circumference; The groove that has twice cross section arranged side by side in the wheel rim of steel wire wheel disc and be U-shaped is used for twining respectively left-handed steel wire rope and right-lay rope, and each U-shaped bottom portion of groove all has the groove through hole that communicates with the card through hole;
One end of left-handed steel wire rope and right-lay rope all is suppressed with the steel wire rope bulb; The bulb diameter is greater than the diameter of groove through hole and less than the diameter of card through hole; Left-handed steel wire rope and right-lay rope pass the groove through hole via the card through hole respectively; The steel wire rope bulb is stuck in card through hole and groove through hole junction, keeps relative fixed with the steel wire wheel disc behind the steel wire rope pretension in the joint motions process;
Respectively there is a flange at the rotating shaft two ends of steel wire wheel disc; Be fixedly connected with the upper and lower boss of prime mechanical arm respectively; The rotating shaft core place that the lateral surface of flange is positioned at the steel wire wheel disc has die cavity; Non-output shaft one end of angular transducer is fixed on the bottom of die cavity, and the output shaft end of angular transducer has rectangular recess, and the rotating shaft of the output shaft of angular transducer and steel wire wheel disc keeps coaxial relation;
Prime mechanical arm and back level mechanical arm all adopt the mechanical arm of hollow tube-shape; The end parts parallel of every grade of mechanical arm is arranged with upper and lower two boss that are parallel to each other in the mechanical arm length direction; The medial surface spacing of the upper and lower boss of back level mechanical arm is greater than the lateral surface spacing of the upper and lower boss of prime mechanical arm; The lateral surface of the upper and lower boss of prime mechanical arm is between the medial surface of the upper and lower boss of back level mechanical arm, and the upper and lower boss lateral surface of prime mechanical arm has the bearing saddle bore of concentric, and the outer ring with the clutch shaft bearing and second bearing cooperates respectively; The bearing saddle bore bottom has the bearing cross hole with the bearing saddle bore concentric; The bearing cross hole diameter is greater than the inner ring diameter of the clutch shaft bearing or second bearing, and the back upper and lower boss of level mechanical arm has the through hole of concentric, cooperates with first rotating shaft and second rotating shaft respectively;
First rotating shaft and second rotating shaft are two ladder integral shafts; Rotating shaft flange three parts by path axle, big footpath axle and big footpath axle one end are formed; The big footpath axle of first rotating shaft cooperates with the through hole of the convex platform of back level mechanical arm; There is a rectangular boss end of path axle along axis, is embedded in the rectangular recess of output shaft end of angular transducer, and the output shaft of first rotating shaft and angular transducer rotates synchronously; The path axle cooperates with the inner ring of clutch shaft bearing; Big footpath axle and the cascaded surface of path axle terminate in the end face of clutch shaft bearing inner ring, and first rotating shaft is fixedly connected with the convex platform of back level mechanical arm through the rotating shaft flange of steel wire wheel disc, make the prime mechanical arm convex platform with after the convex platform of grade mechanical arm be connected with clutch shaft bearing through first rotating shaft and keep and can rotate relatively freely;
The lower convex platform of prime mechanical arm adopts identical therewith mode being connected through second rotating shaft and second bearing with the lower convex platform of back level mechanical arm;
See along the shaft axis direction of steel wire wheel disc that from the convex platform of back level mechanical arm left-handed steel wire rope is according to counterclockwise being wrapped in wherein in one U-shaped groove, around the wheel rim of steel wire wheel disc after be connected to steel rope driver by left side steel wire rope pre-tightening apparatus; Right-lay rope is docile and obedient clockwise and is wrapped in another road U-shaped groove, around the wheel rim of steel wire wheel disc after be connected to steel rope driver by right side steel wire rope pre-tightening apparatus;
The locking nut of steel wire rope pre-tightening apparatus screws on the screw thread of adjustment screw; Be used to lock the relative position between steel wire rope pre-tightening apparatus and back level mechanical arm; There is the cylinder boss with the axis coaxle of adjusting screw the end of screw thread one side of adjustment screw; The external diameter of cylinder boss is less than major diameter of thread, and also crossing axis perpendicular to the cylinder boss axis has a cylinder boss through hole, and the cylinder boss through hole is near the end of cylinder boss; U-shaped wheel carrier bottom have the aperture greater than the cylinder boss external diameter through hole less than adjustment screw thread external diameter; Cylinder boss was stretched the through hole of U-shaped wheel carrier bottom, and matched in clearance keeps and can rotate relatively freely with it, and the end of cylinder boss is inserted the cylinder boss through hole through bayonet lock or clip and deviate from from the through hole of U-shaped wheel carrier bottom with the restriction cylinder boss;
Directive wheel is between the biside plate of U-shaped wheel carrier; The rotating shaft two ends of directive wheel are installed on the biside plate of U-shaped wheel carrier through the 3rd bearing, the 4th bearing, clutch shaft bearing seat and second bearing block respectively; Make directive wheel and U-shaped wheel carrier keep and can rotate relatively freely, the wheel rim of directive wheel has together with the wheel rim groove structure of steel wire wheel disc, measure-alike groove and is used for constraint and guiding steel wire rope;
On the horizontal section of back level mechanical arm, left and right two screwed holes that run through outer wall are arranged; The center line of two screwed holes laid respectively on two the wheel rim bottom portion of groove centers and two planes perpendicular to the axis of the rotating shaft of steel wire wheel disc of steel wire wheel disc; Directive wheel one side of left and right two identical steel wire rope pre-tightening apparatus all is positioned at mechanical arm inside; Cooperate installation through its adjustment screw with two screwed holes that run through of back level mechanical arm respectively; Left-handed steel wire rope and right-lay rope lay respectively in the wheel rim groove of directive wheel of left and right side steel wire rope pre-tightening apparatus; Screw the degree of depth with the directive wheel that changes left and right side steel wire rope pre-tightening apparatus displacement through what regulate adjustment screw and screwed hole along the axis of adjusting screw; Locking nut screws on the adjustment screw, and the screw thread through the adjustment screw is tightened on the outer wall of back level mechanical arm and fixing with it, makes an adjustment screw and a back level mechanical arm relative position fix and lock.
The groove that said wire wheel plate wheel edge has, its cross section can be U-shaped, V-arrangement or trapezoidal;
Said angular transducer is fixed on the cavity bottom of rotating shaft one end boss of steel wire wheel disc, can be the cavity bottom of the rotating shaft upper end flange of steel wire wheel disc, or the cavity bottom of the rotating shaft lower end flange of steel wire wheel disc;
The joint arrangement that said prime mechanical arm and back level mechanical arm are connected with second rotating shaft through first rotating shaft, preferred first rotating shaft and second rotating shaft have same structure and size, and the manufacturing procedure with simplification mechanical arm boss position makes the joint arrangement simple installation.
The controlled rotary type joint device of mechanical arm wide-angle that double-steel wire rope of the present invention drives, owing to take the prime mechanical arm to be connected with bearing and to keep relatively rotating through rotating shaft with back level mechanical arm, the steel wire wheel disc is fixed between the upper and lower boss of prime mechanical arm; Angle sensor follower axle coaxial and synchronous rotation in the flange middle part die cavity of steel wire wheel disc rotating shaft one end with rotating shaft; Two driving steel wire rope is stuck in the groove through hole through bulb respectively and is wrapped in the wire wheel plate wheel edge U-shaped groove, through the pretightning force of adjustment screw adjusted driving steel wire rope, thereby can obtain joint displacements in real time; Realize the accurate control in joint; And do not exist relatively between steel wire rope and steel wire wheel disc and trackslip, realizing between steel wire rope and steel wire rope pre-tightening apparatus rolling contacts, and frictional dissipation is little; Wire rope transfers efficient is high, is applicable to the expansion of multi-stage mechanical arm serial connection.
The beneficial effect of joint arrangement of the present invention is:
1. bulb one end of left-handed steel wire rope of taking in apparatus of the present invention and right-lay rope is stuck in the card through hole and the groove through hole junction of steel wire wheel disc; Behind the abundant pretension of steel wire rope respectively with steel wire wheel disc relative fixed, can effectively solve the problem that generation is trackslipped relatively between steel wire rope and steel wire wheel disc;
2. the output shaft of the angular transducer of taking in apparatus of the present invention is with first rotating shaft or second rotating shaft is coaxial and keep rotation synchronously; Joint displacements; Can obtain the corner value of prime mechanical arm in real time with respect to back level mechanical arm; Be used for the FEEDBACK CONTROL amount of steel rope driver with this, realize the accurate control in joint;
3. taked to regulate the adjustment screw in apparatus of the present invention and changed the displacement of the directive wheel of steel wire rope pre-tightening apparatus along the adjustment screw axis; And then the pretightning force size of regulating left-handed steel wire rope and right-lay rope; Lock adjustment screw and back level mechanical arm relative position through the adjusting lock nut, to keep the steel wire rope tensile force constant; The steel wire rope pre-tightening apparatus has pretension and guide function concurrently, and pretension is easy and simple to handle, and the sliding friction between steel wire rope and steel wire rope pre-tightening apparatus changes rolling friction into through directive wheel, has reduced the frictional dissipation in the steel wire rope pretension process, and wire rope transfers efficient is high.
Description of drawings
Fig. 1 is the cross-sectional side sketch map that the controlled rotary type joint device of the mechanical arm wide-angle overall structure of double-steel wire rope driving of the present invention is crossed the shaft axis of steel wire wheel disc;
Fig. 2 is the generalized section of the steel wire rope pre-tightening apparatus structure in the joint arrangement of the present invention.
Fig. 3 is the A-A generalized section of the controlled rotary type joint device of mechanical arm wide-angle of double-steel wire rope driving of the present invention.
Through embodiment the present invention is done further concrete detailed explanation below in conjunction with accompanying drawing.
Embodiment 1:
Fig. 1 has provided the controlled rotary type joint device of the mechanical arm wide-angle overall structure cross-sectional schematic that double-steel wire rope of the present invention drives.As shown in fig. 1, the controlled rotary type joint device of mechanical arm wide-angle that the present embodiment double-steel wire rope drives comprises: prime mechanical arm 1, clutch shaft bearing 2, the first rotating shafts 3; Angular transducer 4, back level mechanical arm 5, steel wire rope pre-tightening apparatus 6; Left-handed steel wire rope 7, right-lay rope 8, the second rotating shafts 9; Second bearing 10, steel wire wheel disc 11.
Non-output shaft one end of said angular transducer 4 places the cavity bottom of flange of the rotating shaft upper end of steel wire wheel disc 11, is fixedly connected behind the rotating shaft maintenance coaxial relation of the output shaft of adjustment angular transducer 4 and steel wire wheel disc 11.
The flange at the rotating shaft two ends of steel wire wheel disc 11 places between the upper and lower boss medial surface of prime mechanical arm 1; The rotating shaft of adjustment steel wire wheel disc 11 with the bearing saddle bore maintenance of the upper and lower boss of prime mechanical arm 1 coaxial after, the symmetrical flange at the rotating shaft two ends of steel wire wheel disc 11 is fixedly connected with the upper and lower boss of prime mechanical arm 1.
The upper and lower boss lateral surface that the said clutch shaft bearing 2 and second bearing 10 closely embed prime mechanical arm 1 respectively has in two bearing saddle bores of concentric relation.
Prime mechanical arm and back level mechanical arm all adopt the mechanical arm of hollow tube-shape; The upper and lower boss of prime mechanical arm 1 places between the upper and lower boss medial surface of back level mechanical arm 5, and two through holes of the upper and lower boss of adjustment back level mechanical arm 5 are coaxial with the clutch shaft bearing 2 and second bearing 10; The big footpath axle of first rotating shaft 3 cooperates with the through hole of the convex platform of back level mechanical arm 5; The path axle cooperates with the inner ring of clutch shaft bearing 2; The rectangular boss of the end of path axle is embedded in the rectangular recess of output shaft end of angular transducer 4, the output shaft of first rotating shaft 3 and angular transducer 4 rotates synchronously; Big footpath axle and the cascaded surface of path axle terminate in the end face of clutch shaft bearing 2 inner rings; The flange of first rotating shaft 3 is fixedly connected with the lateral surface of the convex platform of back level mechanical arm 5; First rotating shaft 3 is fixedly connected with the convex platform of back level mechanical arm 5 through the rotating shaft flange of steel wire wheel disc 11, make prime mechanical arm 1 convex platform with after the convex platform of grade mechanical arm 5 be connected with clutch shaft bearing 2 through first rotating shaft 3 and keep and can rotate relatively freely; Second rotating shaft 9 is identical therewith with the connected mode of the lower convex platform of back level mechanical arm 5 with second bearing 10.
Left-handed steel wire rope 7 and right-lay rope 8 are wrapped in the twice U-shaped groove of steel wire wheel disc 11 respectively, through after a grade mechanical arm 5 be connected internally to steel rope driver; Two identical steel wire rope pre-tightening apparatus 6 are installed in level mechanical arm 5 inside, back; Be used for adjusting the pretightning force of left-handed steel wire rope 7 and right-lay rope 8; When thereby the output shaft of realizing first rotating shaft 3 and angular transducer 4 rotates synchronously, can obtain prime mechanical arm 1 with respect to the corner value of back level mechanical arm 5 and as the FEEDBACK CONTROL amount that is used for steel rope driver.
Fig. 2 is the generalized section of steel wire rope pre-tightening apparatus 6 structures in the controlled rotary type joint device of mechanical arm wide-angle that drives of double-steel wire rope of the present invention.Wherein steel wire rope pre-tightening apparatus 6 comprises: adjustment screw 61, locking nut 62, U-shaped wheel carrier 63, clutch shaft bearing seat 64, the 3rd bearing 65, directive wheel 66, second bearing block 67 and the 4th bearing 68.Each parts interconnected relationship is: directive wheel 66 is between the biside plate of U-shaped wheel carrier 63, and the rotating shaft two ends of directive wheel 66 are installed on the biside plate of U-shaped wheel carrier 63 through the 3rd bearing 65, the 4th bearing 68, clutch shaft bearing seat 64 and second bearing block 67; The 3rd bearing 65 embeds the inside of clutch shaft bearing seat 64; The 4th bearing 68 embeds the inside of second bearing block 67; The clutch shaft bearing seat 64 and second bearing block 67 are installed in respectively on the lateral surface of biside plate of U-shaped wheel carrier 63, guarantee the seat hole of clutch shaft bearing seat 64 and the seat hole coaxial position relation of second bearing block 67.
Fig. 3 is the A-A generalized section of the controlled rotary type joint device of mechanical arm wide-angle of double-steel wire rope driving of the present invention.As shown in Figure 3: an end of not suppressing steel wire tetherball head of left-handed steel wire rope 7 and right-lay rope 8; The card through hole 12 that is uniformly distributed with via steel wire wheel disc 11 surfaces respectively passes the groove through hole; Make the bulb of the steel wire rope other end be stuck in card through hole 12 and groove through hole junction; The convex platform of level mechanical arm 5 is seen along the shaft axis direction of steel wire wheel disc 11 from the back; Left-handed steel wire rope 7 is according in the U-shaped groove that counterclockwise is wrapped in groove through hole place, around the wheel rim of steel wire wheel disc 11 after by the groove of the directive wheel of the steel wire rope pre-tightening apparatus 6a in left side, the steel rope driver that is connected internally to of passing back level mechanical arm 5; Adopt in a like fashion; Right-lay rope 8 is docile and obedient clockwise and is wrapped in another road U-shaped groove; Around the wheel rim of steel wire wheel disc 11 after by the groove of the directive wheel of the steel wire rope pre-tightening apparatus 6b on right side, the steel rope driver that is connected internally to of passing back level mechanical arm 5.
Left side steel wire rope pre-tightening apparatus 6a and right side steel wire rope pre-tightening apparatus 6b structure are identical; One side of its directive wheel all places mechanical arm inner; Cooperate installation through its adjustment screw 61 with two screwed holes that run through of back level mechanical arm 5 respectively; And the screwed hole through regulating adjustment screw 61 and back level mechanical arm 5 screw the degree of depth; The directive wheel of directive wheel and right side steel wire rope pre-tightening apparatus 6b that can change left side steel wire rope pre-tightening apparatus 6a is along the displacement of adjustment screw 61 axis, and then the pretightning force size of regulating left-handed steel wire rope 7 and right-lay rope 8 respectively, is tightened on the outer wall of back level mechanical arm 5 and fixes with it through adjusting lock nut 62; Make adjustment screw 61 and back level mechanical arm 5 relative positions fix and lock, to keep the steel wire rope tensile force constant.
The controlled rotary type joint device of mechanical arm wide-angle that double-steel wire rope of the present invention drives; Owing to take prime mechanical arm 1 to be connected with bearing and to keep relatively rotating through rotating shaft with back level mechanical arm 5; Steel wire wheel disc 11 is fixed on through the rotating shaft flange in the two ends between the upper and lower boss of prime mechanical arm 1, coaxial with it and the synchronous rotation of follower axle of the angle sensor 4 in the die cavity of the flange of rotating shaft one end of steel wire wheel disc 11 middle part, and two driving steel wire are restricted and are stuck in the groove through hole through bulb respectively and are wrapped in the wheel rim U-shaped groove of steel wire wheel disc 11; Regulate the pretightning force that driving steel wire is restricted through adjustment screw 61; Thereby can obtain joint displacements in real time, realize the accurate control in joint, and steel wire rope and 11 on steel wire wheel disc do not exist relatively and trackslip; Steel wire rope is realized rolling with 6 of steel wire rope pre-tightening apparatus and is contacted; Frictional dissipation is little, and wire rope transfers efficient is high, is applicable to the expansion of multi-stage mechanical arm serial connection.This double-steel wire rope drives and firmly beforehand means efficiently solves that single wire rope twines and wire wheel between the friction problem of trackslipping, and the steel cord ends fixed structure is simple, and is easy to operate.
Claims (5)
1. the controlled rotary type joint device of mechanical arm wide-angle that drives of a double-steel wire rope is characterized in that:
The card of steel wire wheel disc (11) has the card through hole (12) that is uniformly distributed along the circumference; Have twice cross section arranged side by side in the wheel rim of steel wire wheel disc (11) and be used for twining respectively left-handed steel wire rope (7) and right-lay rope (8) for the U-shaped groove, each U-shaped bottom portion of groove all has the groove through hole that communicates with card through hole (12);
One end of left-handed steel wire rope (7) and right-lay rope (8) all is suppressed with the steel wire rope bulb; The bulb diameter greater than the diameter of groove through hole less than the diameter of card through hole (12); Left-handed steel wire rope (7) and right-lay rope (8) pass the groove through hole via card through hole (12) respectively; The steel wire rope bulb is stuck in card through hole (12) and groove through hole junction, keeps relative fixed with steel wire wheel disc (11) behind the steel wire rope pretension in the joint motions process;
Respectively there is a flange at the rotating shaft two ends of steel wire wheel disc (11); Upper and lower boss with prime mechanical arm (1) is fixedly connected respectively; The rotating shaft core place that the lateral surface of flange is positioned at steel wire wheel disc (11) has die cavity; Non-output shaft one end of angular transducer (4) is fixed on the bottom of die cavity, and the output shaft end of angular transducer (4) has rectangular recess, and the rotating shaft of the output shaft of angular transducer (4) and steel wire wheel disc (11) keeps coaxial relation;
Prime mechanical arm (1) and back level mechanical arm (5) all adopt the mechanical arm of hollow tube-shape; The end parts parallel of every grade of mechanical arm is arranged with upper and lower two boss that are parallel to each other in the mechanical arm length direction; The medial surface spacing of the upper and lower boss of back level mechanical arm (5) is greater than the lateral surface spacing of the upper and lower boss of prime mechanical arm (1); The lateral surface of the upper and lower boss of prime mechanical arm (1) is positioned between the medial surface of upper and lower boss of back level mechanical arm (5); The upper and lower boss lateral surface of prime mechanical arm (1) has the bearing saddle bore of concentric; Outer ring with clutch shaft bearing (2) and second bearing (10) cooperates respectively, and the bearing saddle bore bottom has the bearing cross hole with the bearing saddle bore concentric, and the bearing cross hole diameter is greater than the inner ring diameter of clutch shaft bearing (2) or second bearing (10); The upper and lower boss of back level mechanical arm (5) has the through hole of concentric, cooperates with first rotating shaft (3) and second rotating shaft (9) respectively;
First rotating shaft (3) and second rotating shaft (9) are two ladder integral shafts; Rotating shaft flange three parts by path axle, big footpath axle and big footpath axle one end are formed; The big footpath axle of first rotating shaft (3) cooperates with the through hole of the convex platform of back level mechanical arm (5); There is a rectangular boss end of path axle along axis; Be embedded in the rectangular recess of output shaft end of angular transducer (4); The output shaft of first rotating shaft (3) and angular transducer (4) rotates synchronously; The path axle cooperates with the inner ring of clutch shaft bearing (2), and big footpath axle and the cascaded surface of path axle terminate in the end face of clutch shaft bearing (2) inner ring, the flange of first rotating shaft (3) with after the lateral surface of convex platform of grade mechanical arm (5) be fixedly connected; The rotating shaft flange of first rotating shaft (3) through steel wire wheel disc (11) is fixedly connected with the convex platform of back level mechanical arm (5), make prime mechanical arm (1) convex platform with after the convex platform of grade mechanical arm (5) be connected with clutch shaft bearing (2) through first rotating shaft (3) and keep and can rotate relatively freely;
The lower convex platform of prime mechanical arm (1) is taked the identical therewith mode that is connected with the lower convex platform of back level mechanical arm (5) through second rotating shaft (9), second bearing (10);
See along the shaft axis direction of steel wire wheel disc (11) from the convex platform of back level mechanical arm (5); Left-handed steel wire rope (7) is according to counterclockwise being wrapped in wherein in one U-shaped groove, around the wheel rim of steel wire wheel disc (11) after be connected to steel rope driver by left side steel wire rope pre-tightening apparatus; Right-lay rope (8) is docile and obedient clockwise and is wrapped in another road U-shaped groove, around the wheel rim of steel wire wheel disc (11) after be connected to steel rope driver by right side steel wire rope pre-tightening apparatus.
2. the controlled rotary type joint device of mechanical arm wide-angle that drives of double-steel wire rope according to claim 1; Be characterised in that: the locking nut (62) of said steel wire rope pre-tightening apparatus (6) screws on the screw thread of adjustment screw (61); Be used to lock the relative position between steel wire rope pre-tightening apparatus (6) and back level mechanical arm (5); There is the cylinder boss with the axis coaxle of adjusting screw (61) end of screw thread one side of adjustment screw (61); The external diameter of cylinder boss is less than major diameter of thread; Also crossing axis perpendicular to the cylinder boss axis has a cylinder boss through hole (69), and cylinder boss through hole (69) is near the end of cylinder boss, and U-shaped wheel carrier (63) bottom has through hole; Its aperture is greater than the external diameter of cylinder boss and less than the major diameter of thread of adjusting screw (61); Cylinder boss was stretched the through hole of U-shaped wheel carrier (63) bottom, and matched in clearance keeps and can rotate relatively freely with it, and the end of cylinder boss is inserted cylinder boss through hole (69) through bayonet lock or clip and deviate from from the through hole of U-shaped wheel carrier (63) bottom with the restriction cylinder boss;
Directive wheel (66) is positioned between the biside plate of U-shaped wheel carrier (63); The rotating shaft two ends of directive wheel (66) are installed on the biside plate of U-shaped wheel carrier (63) through the 3rd bearing (65), the 4th bearing (68), clutch shaft bearing seat (64) and second bearing block (67); Directive wheel (66) and U-shaped wheel carrier (63) keep rotating relatively freely, and the wheel rim of directive wheel (66) has together with the wheel rim groove structure of steel wire wheel disc (11), measure-alike groove and is used for constraint and guiding steel wire rope;
On the horizontal section of back level mechanical arm (5), left and right two screwed holes that run through outer wall are arranged; The center line of two screwed holes laid respectively on two the wheel rim bottom portion of groove centers and two planes perpendicular to the axis of the rotating shaft of steel wire wheel disc (11) of steel wire wheel disc (11); Left and right two identical steel wire rope pre-tightening apparatus (6a; Directive wheel one side 6b) all is positioned at mechanical arm inside; Cooperate installation through its adjustment screw (61) with back (5) two screwed holes that run through of level mechanical arm respectively; Left-handed steel wire rope (7) and right-lay rope (8) lay respectively in the wheel rim groove of directive wheel of left and right side steel wire rope pre-tightening apparatus (6a, 6b); Through regulating screwing the degree of depth and can changing left and right side steel wire rope pre-tightening apparatus (6a, directive wheel 6b) are along the displacement of the axis of adjustment screw (61), and locking nut (62) screws on adjustment screw (61) of adjustment screw (61) and screwed hole; Screw thread through adjustment screw (61) is tightened on the outer wall of back level mechanical arm (5) and fixing with it, makes adjustment screw (61) and back level mechanical arm (5) relative position fix and lock.
3. the controlled rotary type joint device of mechanical arm wide-angle that drives of double-steel wire rope according to claim 1 is characterised in that the groove of opening in the wheel rim of said steel wire wheel disc (11) is U-shaped, V-arrangement or trapezoid cross section groove.
4. the controlled rotary type joint device of mechanical arm wide-angle that drives of double-steel wire rope according to claim 1; Be characterised in that said angular transducer (4) is fixed on the cavity bottom of rotating shaft one end boss of steel wire wheel disc (11); Be the cavity bottom of the rotating shaft upper end flange of steel wire wheel disc (11), or the cavity bottom of the rotating shaft lower end flange of steel wire wheel disc (11).
5. the controlled rotary type joint device of mechanical arm wide-angle that drives of double-steel wire rope according to claim 1; Be characterised in that the joint arrangement that said prime mechanical arm (1) and back level mechanical arm (5) are connected with second rotating shaft (9) through first rotating shaft (3), wherein same structure and size are adopted in first rotating shaft (3) and second rotating shaft (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210341508.9A CN102814821B (en) | 2012-09-14 | 2012-09-14 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210341508.9A CN102814821B (en) | 2012-09-14 | 2012-09-14 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102814821A true CN102814821A (en) | 2012-12-12 |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085081A (en) * | 2013-01-29 | 2013-05-08 | 东华大学 | Hinge joint mechanism with angular displacement sensor |
| CN103203758A (en) * | 2013-04-07 | 2013-07-17 | 东华大学 | Arc-shaped guide rail mechanism applicable to joint drive |
| CN103252793A (en) * | 2013-05-22 | 2013-08-21 | 西南交通大学 | Robot tail end straight motion device |
| CN103315881A (en) * | 2013-06-26 | 2013-09-25 | 浙江大学 | Exoskeleton flexible joint drive device based on flexible rope transmission |
| CN103331750A (en) * | 2013-06-26 | 2013-10-02 | 中国科学院合肥物质科学研究院 | Travel driving device of large-travel multi-section rotary mechanical arm |
| CN103831840A (en) * | 2014-03-31 | 2014-06-04 | 东南大学 | Lasso-drive-based search mechanism for robot |
| 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 |
| CN104068985A (en) * | 2014-06-20 | 2014-10-01 | 东南大学 | Double-lasso driving flexible joint used for exoskeleton robot |
| CN104669297A (en) * | 2015-03-11 | 2015-06-03 | 中山市奥斯精工机械科技有限公司 | Artificial joint of automatic machine |
| CN105459148A (en) * | 2016-01-26 | 2016-04-06 | 哈尔滨工业大学 | Steel wire transmission joint with rope output point shifting compensation function |
| CN106737815A (en) * | 2016-11-22 | 2017-05-31 | 合肥中科艾帝尔机器人技术有限公司 | A kind of rotating mechanism based on pulley gear |
| CN106965192A (en) * | 2016-01-13 | 2017-07-21 | 上海摩西海洋工程股份有限公司 | A kind of safety protection robot defends mechanical arm |
| CN109591048A (en) * | 2019-01-31 | 2019-04-09 | 浙江钱江机器人有限公司 | Wrist joint structure of robot |
| CN110116402A (en) * | 2019-06-06 | 2019-08-13 | 哈尔滨工业大学 | Three-freedom mechanical arm based on coupling wire rope gearing |
| CN110193821A (en) * | 2019-01-04 | 2019-09-03 | 广东协禾医业有限公司 | A kind of magnetic dynamic source traction module and joint prosthesis |
| CN112643709A (en) * | 2020-12-24 | 2021-04-13 | 东莞理工学院 | Light foldable one-way driving robot joint |
| CN113478026A (en) * | 2021-06-30 | 2021-10-08 | 大连理工大学 | Wire wheel driving mechanism for high-precision involute pure rolling generating device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085081A (en) * | 2013-01-29 | 2013-05-08 | 东华大学 | Hinge joint mechanism with angular displacement sensor |
| CN103085081B (en) * | 2013-01-29 | 2015-01-07 | 东华大学 | Hinge joint mechanism with angular displacement sensor |
| CN103203758A (en) * | 2013-04-07 | 2013-07-17 | 东华大学 | Arc-shaped guide rail mechanism applicable to joint drive |
| CN103252793A (en) * | 2013-05-22 | 2013-08-21 | 西南交通大学 | Robot tail end straight motion device |
| CN103252793B (en) * | 2013-05-22 | 2016-02-03 | 西南交通大学 | Robot tail end straight motion device |
| CN103315881A (en) * | 2013-06-26 | 2013-09-25 | 浙江大学 | Exoskeleton flexible joint drive device based on flexible rope transmission |
| CN103331750A (en) * | 2013-06-26 | 2013-10-02 | 中国科学院合肥物质科学研究院 | Travel driving device of large-travel multi-section rotary mechanical arm |
| CN103331750B (en) * | 2013-06-26 | 2015-03-04 | 中国科学院合肥物质科学研究院 | Travel driving device of large-travel multi-section rotary mechanical arm |
| CN103831840A (en) * | 2014-03-31 | 2014-06-04 | 东南大学 | Lasso-drive-based search mechanism for robot |
| CN104068985B (en) * | 2014-06-20 | 2016-02-03 | 东南大学 | A kind of two lasso tricks for exoskeleton robot drive submissive joint |
| CN104068985A (en) * | 2014-06-20 | 2014-10-01 | 东南大学 | Double-lasso driving flexible joint used for exoskeleton robot |
| 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 |
| CN104669297A (en) * | 2015-03-11 | 2015-06-03 | 中山市奥斯精工机械科技有限公司 | Artificial joint of automatic machine |
| CN106965192A (en) * | 2016-01-13 | 2017-07-21 | 上海摩西海洋工程股份有限公司 | A kind of safety protection robot defends mechanical arm |
| CN105459148A (en) * | 2016-01-26 | 2016-04-06 | 哈尔滨工业大学 | Steel wire transmission joint with rope output point shifting compensation function |
| CN106737815A (en) * | 2016-11-22 | 2017-05-31 | 合肥中科艾帝尔机器人技术有限公司 | A kind of rotating mechanism based on pulley gear |
| CN106737815B (en) * | 2016-11-22 | 2019-06-11 | 合肥中科艾帝尔机器人技术有限公司 | A kind of rotating mechanism based on pulley gear |
| CN110193821A (en) * | 2019-01-04 | 2019-09-03 | 广东协禾医业有限公司 | A kind of magnetic dynamic source traction module and joint prosthesis |
| CN109591048A (en) * | 2019-01-31 | 2019-04-09 | 浙江钱江机器人有限公司 | Wrist joint structure of robot |
| CN109591048B (en) * | 2019-01-31 | 2024-02-20 | 浙江钱江机器人有限公司 | Wrist joint structure of robot |
| CN110116402A (en) * | 2019-06-06 | 2019-08-13 | 哈尔滨工业大学 | Three-freedom mechanical arm based on coupling wire rope gearing |
| CN110116402B (en) * | 2019-06-06 | 2022-03-25 | 哈尔滨工业大学 | Three-degree-of-freedom mechanical arm based on coupling steel wire rope transmission |
| CN112643709A (en) * | 2020-12-24 | 2021-04-13 | 东莞理工学院 | Light foldable one-way driving robot joint |
| CN113478026A (en) * | 2021-06-30 | 2021-10-08 | 大连理工大学 | Wire wheel driving mechanism for high-precision involute pure rolling generating device |
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