CN105710895A - Structure of rope-driven mechanical arm rotation joint - Google Patents
Structure of rope-driven mechanical arm rotation joint Download PDFInfo
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- CN105710895A CN105710895A CN201610286881.7A CN201610286881A CN105710895A CN 105710895 A CN105710895 A CN 105710895A CN 201610286881 A CN201610286881 A CN 201610286881A CN 105710895 A CN105710895 A CN 105710895A
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- mechanical arm
- hole
- belt wheel
- timing belt
- fixture block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a structure of rope-driven mechanical arm rotation joint. The structure comprises a synchronous belt wheel shaft, a synchronous belt, an angle sensor, an arm joint bearing end plate, a deep groove ball bearing, an angular contact ball bearing and a mechanical arm connection clamping block, wherein the mechanical arm connection clamping block is provided with a connection hole and a steel wire rope through hole; the synchronous belt wheel shaft comprises a belt wheel end and a shaft end from top to bottom; a sensor containing hole, a sensor output shaft connection hole and a cross recessed countersunk head screw inner threaded hole are arranged along the axis of the synchronous belt wheel shaft in sequence; and the inner rings of the deep groove ball bearing and the angular contact ball bearing are respectively fixed at the upper part and the lower part of the belt wheel end through transition fit. According to the structure, the movement of the joint in a relatively large range can be realized; by adopting a detachable structure, the maintenance and carrying are convenient, the structure is simplified, the running efficiency of the joint is improved and the movement coupling of the joint is avoided; the problem that only stretching can be carried out and compression cannot be carried out in the rope driving process, the structure is simple, and stroke range is large, so that the structure is particularly suitable for being installed on the disabled and aged helping facilities such as wheelchairs and care beds.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of rope and drive the structure of mechanical arm cradle head.
Background technology
Rope actuation techniques came into one's own gradually in recent years, and it is mainly through being all arranged on base driving box by motor and arrangements for speed regulation, drove diarthrodial motion by restricting, thus the weight of mechanical arm has been greatly reduced.The difficulty that existing series connection rope drives the design of cradle head mechanism is relatively larger, it is necessary to the winding configuration of ingehious design rope and layout type, by organizing the winding repeatedly of wheels more, makes full use of rope drive and completes deceleration.Existing mode is for realizing speed governing and long-distance transmissions power, and wheels are more, and mechanism is complicated, and weight is big, and cannot solve joint motions coupling and the less shortcoming of driving scope.The rope drive system cradle head that the present invention proposes, it is possible to significantly alleviate the complexity of mechanical arm deadweight and mechanism, improve mechanical arm dynamic property, solves articulation structure in conventional rope actuation techniques complicated, the little problem with joint motions coupling of range of movement；Adopt dismantled and assembled structure, convenient for maintaining and carrying；Adopt major part integrated design, simplify structure, improve the operational efficiency in joint.This mechanical arm structure is suitably mounted to wheelchair, nursing bed etc. and helps the disabled on the equipment of helping the elderly, and can effectively help old people, people with disability to realize taking care of oneself.
Summary of the invention
It is an object of the invention to overcome prior art above shortcomings, it is provided that a mechanism is simple, range of movement is big, non-coupling rope drives mechanical arm cradle head, and the purpose of the present invention is achieved through the following technical solutions:
A kind of rope drives the structure of mechanical arm cradle head, including Timing Belt wheel shaft, Timing Belt, angular transducer, shoulder joint bearing (ball) cover, deep groove ball bearing, angular contact ball bearing, the mechanical arm being provided with connecting hole and steel wire rope through hole connects fixture block, described Timing Belt wheel shaft from top to bottom includes belt wheel end and axle head, axis along Timing Belt wheel shaft is disposed with sensor pocket hole, sensor output shaft connecting hole, crossed countersunk head screw internal thread hole, described deep groove ball bearing and angular contact ball bearing inner ring are separately fixed on described belt wheel end by interference fits, bottom, described belt wheel end matches with Timing Belt, described axle head is connected the fixing connection of connecting hole of fixture block with mechanical arm；The two ends of described Timing Belt connect the rope driving device of tool rotating function respectively through steel wire rope；Described shoulder joint bearing (ball) cover is fixing on the robotic arm, matches with the outer ring of deep groove ball bearing simultaneously；Described angular transducer is arranged in Timing Belt wheel shaft, and its housing coordinates with sensor pocket interporal lacuna, and case top is fixing with shoulder joint bearing (ball) cover simultaneously is connected, and the output shaft of described angular transducer is fixing with sensor output shaft connecting hole to be connected.
Rope described in this programme drives the structure of mechanical arm cradle head to utilize the Timing Belt of connecting steel wire ropes to drive Timing Belt wheel shaft to rotate, and the axle head of Timing Belt wheel shaft is fixed on mechanical arm and connects on fixture block, power reaches next mechanical arm, drives next mechanical arm to rotate.Timing Belt wheel shaft respectively by two ball bearings on shoulder joint bearing (ball) cover and mechanical arm base plate, it is achieved vertically axially and radially fixing of cradle head axle, it is ensured that the belt shaft stationarity when rotating.When drive motor forward and backward, driving coupled Timing Belt to move, and then pull Timing Belt wheel shaft to rotate, joint completes the action of respective direction.
Further; also include the column sensor protective sleeve that inwall closely cooperates, outer wall coordinates with sensor pocket interporal lacuna with the housing of angular transducer; the top of described sensor protective sleeve is fixing with shoulder joint bearing (ball) cover to be connected, and bottom is centrally located the shoulder hole coordinated with the output shaft clearance of described angular transducer.
Further, described sensor protective sleeve adopts dismantled and assembled split-type structural, is provided with the rectangular channel for disposing circuit, facilitates the dismounting of angular transducer in the middle part of it.
Further, offsettingly it is provided with sunk screw bottom described sensor protective sleeve and connects the countersunk screw hole of Timing Belt wheel shaft, make angular transducer fixing more firm.
Further, described Timing Belt wheel shaft is provided with the first internal thread through hole along pivot center vertical direction, it is equipped with the tack holding screw of output shaft for fixing described angular transducer in described first internal thread through hole, is further ensured that the output shaft of angular transducer is connected with the fixing of Timing Belt wheel shaft.
Further, the length of described Timing Belt is at least 1.5 times of belt wheel end circumference.Rotation in ensureing to horizontally rotate 360 ° of joint.
Further, described axle head being provided with and rises as high as the banks, described mechanical arm connects fixture block side and has the second internal thread through hole in the horizontal direction, is equipped with the tack holding screw for the described axle head of fixing connection in described second internal thread through hole.This Kong Yuqi axis direction through hole intersects, and holding screw is screwed into from internal thread through hole, with fixing Timing Belt wheel shaft, it is achieved axle head and described mechanical arm connect the power transmission between fixture block, then drives the mechanical arm being attached thereto to rotate.
Further, described mechanical arm connects fixture block and includes on mechanical arm fixture block under fixture block and mechanical arm, described mechanical arm is vertically provided with in the middle part of fixture block the belt shaft coordinated with axle head and is connected through hole, two sides are provided with the connecting screw hole for connecting mechanical arm base plate, under described mechanical arm the top of fixture block prolong vertical direction have with axle head coordinate belt shaft be connected counterbore, bottom has the second countersunk head through hole with the second crossed countersunk head screw fit, two sides are provided with the connecting screw hole for connecting mechanical arm base plate, on described mechanical arm, under fixture block and mechanical arm, fixture block coordinates and is respectively provided with two sections of ladder half slots being parallel to each other in plane, wire rope casing penetrates the half slot being relatively large in diameter and is secured by from outside, steel wire rope passes from sleeve pipe, next joint motions are driven by the half slot that diameter is less.
Further, the spacing of described ladder half slot and the diameter of belt wheel end match.
Further, described wire rope casing includes outer wall plastic layer and braided wire rope layer from outside to inside.
Compared with prior art, the invention have the advantages that and effect:
This rope drives mechanical arm cradle head, and drive form selects Timing Belt to pull synchronous pulley to rotate, and realizes transmission by engaging between Timing Belt tooth and synchronous pulley teeth, and both are without relative sliding, and make peripheral speed synchronize.Operating steadily, gear ratio is constant, compact conformation, and transmission efficiency is high.
Critical piece adopts modularity composite structural design, and synchronous pulley and joint are rotated main shaft and combine by Timing Belt wheel shaft, simplify articulation structure, owing to the minimizing of part improves operational efficiency.Timing Belt hub designs has the step surface coordinated with ball bearing inner ring, and belt wheel end is by two ball bearings, it is achieved vertically axially and radially fixing of cradle head axle.When Timing Belt wheel shaft rotates, on axle journal, two ball bearing inner ring synchronous rotaries, decrease frictional resistance.
Using the bracing wire being made up of bracing wire steel wire rope and bracing wire sleeve, fixed the end of sleeve, drive motor drive bracing wire steel wire rope is mobile in bracing wire sleeve reaches transmission purpose.Other joint will not be produced impact by the motion in one joint, it is to avoid rope drive in the problem of joint motions coupling.
Installing angular transducer additional in Timing Belt wheel shaft rotation axis direction, angular transducer axle is fixed in Timing Belt wheel shaft axis through bore by holding screw.When Timing Belt wheel shaft drives joint to rotate, the synchronous rotation of angular transducer axle, it is possible to record joint rotation angle accurately, it is simple to the data point reuse joint position that control system is passed back according to angular transducer, it is achieved accurately control.The angular transducer protection set of typing formula is installed additional, it is achieved to being easy to again dismounting while angle sensor protection outside angular transducer.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of structure driving mechanical arm cradle head of restricting in embodiment.
Fig. 2 is the schematic front view of Timing Belt wheel shaft in Fig. 1.
Fig. 3 is the left view schematic diagram of Timing Belt wheel shaft in Fig. 1.
Fig. 4 is the cross-sectional schematic of Timing Belt wheel shaft in Fig. 1.
Fig. 5 is the structural representation of shoulder joint bearing (ball) cover in Fig. 1.
Fig. 6 is the assembling structural representation of mechanical arm up/down fixture block in Fig. 1.
Fig. 7 is the structural representation of fixture block under mechanical arm in Fig. 1.
Fig. 8 is the structural representation of angular transducer protection set in Fig. 1.
Fig. 9 is the Local Structure schematic diagram of angular transducer protection set in Fig. 1.
Shown in figure it is: 1-Timing Belt wheel shaft；2-shoulder joint bearing (ball) cover；3-the first crossed countersunk head screw；4-sensor protective sleeve；5-angular transducer；6-deep groove ball bearing；7-belt wheel small end packing ring；8-Timing Belt；The big end packing ring of 9-belt wheel；10-angular contact ball bearing；11-the first tack holding screw；Fixture block on 12-mechanical arm；13-the second tack holding screw；14-the 3rd tack holding screw；Fixture block under 15-mechanical arm；16-the second crossed countersunk head screw；17-belt wheel end；18-rises as high as the banks；19-axle head；20-the first internal thread through hole；21-protection set holds hole；22-sensor output shaft connecting hole；23-crossed countersunk head screw internal thread hole；24-step surface；25-the first countersunk head through hole；26-belt shaft connects through hole；27-the second internal thread through hole；28-steel wire rope；29-connecting screw hole；30-ladder half slot；31-belt shaft connects counterbore；32-the second countersunk head through hole；33-the 3rd internal thread through hole；34-rectangular channel；Inner chamber fixed by 35-sensor；36-shoulder hole；37-the first mechanical arm；38-the second mechanical arm；39-countersunk screw hole.
Detailed description of the invention
Below in conjunction with accompanying drawing, specific embodiment of the invention is described in further detail, but the enforcement of the present invention is not limited to this.
As shown in Figures 1 to 4, a kind of rope drives the structure of mechanical arm cradle head, including Timing Belt wheel shaft 1, Timing Belt 8, angular transducer 5, shoulder joint bearing (ball) cover 2, deep groove ball bearing 6, angular contact ball bearing 10, the mechanical arm being provided with connecting hole and steel wire rope through hole connects fixture block, described Timing Belt wheel shaft 1 from top to bottom includes belt wheel end 17 and axle head 19, axis along Timing Belt wheel shaft 1 is disposed with sensor pocket hole 21, sensor output shaft connecting hole 22, crossed countersunk head screw internal thread hole 23, described deep groove ball bearing 6 and angular contact ball bearing 10 inner ring are separately fixed on described belt wheel end 17, bottom, simultaneously, belt wheel small end packing ring 7 it is provided with between deep groove ball bearing 6 inner ring end face and belt wheel end 17 shaft shoulder, the big end packing ring 9 of belt wheel it is provided with between described angular contact ball bearing 10 and belt wheel end 17 shaft shoulder, realize axially and radially being accurately positioned of bearing, described belt wheel end 17 matches with Timing Belt 8, described axle head 19 is connected the fixing connection of connecting hole of fixture block with mechanical arm；The two ends of described Timing Belt 8 connect the rope driving device of tool rotating function respectively through steel wire rope 28；Described shoulder joint bearing (ball) cover 2 is fixed on the first mechanical arm 37, match with the outer ring of deep groove ball bearing 6 simultaneously, described shoulder joint bearing (ball) cover 2 exterior arc surface and the first mechanical arm 37 base plate arc surface coordinate, two sides have connecting screw hole 29, it is fixed on the first mechanical arm 37 base plate with screw, centre has the step surface 24 of diameter and deep groove ball bearing 6 outer ring interference fit, its center of circle and Timing Belt wheel shaft 1 axis are on the same line, top center has four the first countersunk head through holes 25 (see Fig. 5), with the first crossed countersunk head screw 3, sensor protective sleeve 4 is coupled with shoulder joint bearing (ball) cover 2, shoulder joint bearing (ball) cover 2 epitaxial end is slotted.
In order to accurately measure the angle described in the real-time rotational angle in joint, sensor 5 is arranged in Timing Belt wheel shaft 1, its housing and sensor pocket hole 21 matched in clearance, case top is fixing with shoulder joint bearing (ball) cover 2 simultaneously is connected, and the output shaft of described angular transducer 5 is connected by interference fits is fixing with sensor output shaft connecting hole 22.
Rope described in the present embodiment drives the structure of mechanical arm cradle head to utilize the Timing Belt 8 of connecting steel wire ropes to drive Timing Belt wheel shaft to rotate, the axle head 19 of Timing Belt wheel shaft 1 is fixed on mechanical arm and connects on fixture block, power is reached the second mechanical arm 38, drives the second mechanical arm 38 to rotate.Belt wheel end 17 adopts standard component specification, and size, tooth form and respective synchronization band 8 are supporting, and Timing Belt 8 pulls Timing Belt wheel shaft 1 to rotate, and power is transferred to the second mechanical arm 38, to reach function of joint.Timing Belt wheel shaft 1 respectively by two ball bearings on shoulder joint bearing (ball) cover 2 and the first mechanical arm 37 base plate, it is achieved vertically axially and radially fixing of cradle head axle, it is ensured that the Timing Belt wheel shaft 1 stationarity when rotating and motility.When drive motor forward and backward, driving coupled Timing Belt 8 to move, and then pull Timing Belt wheel shaft 1 to rotate, joint completes the action of respective direction.
As shown in Figure 8, Figure 9; in one feasible embodiment of the present invention; sensor pocket hole 21 also include the housing of inwall and angular transducer 5 closely cooperate, the column sensor protective sleeve 4 of outer wall and sensor pocket hole 21 matched in clearance; the top of described sensor protective sleeve 4 is provided with four the 3rd internal thread through hole 33; it is connected by four the first crossed countersunk head screws 3 are fixing with shoulder joint bearing (ball) cover 2; bottom is centrally located the shoulder hole 36 coordinated with the output shaft clearance of described angular transducer 5, facilitates installation and the operating of angular transducer 5.
In one feasible embodiment of the present invention, described sensor protective sleeve 4 adopts dismantled and assembled split-type structural, is provided with the rectangular channel 34 for disposing circuit, facilitates the dismounting of angular transducer in the middle part of it.
In one feasible embodiment of the present invention, offsettingly it is provided with sunk screw bottom described sensor protective sleeve 4 and connects the countersunk screw hole 39 of Timing Belt wheel shaft 1, make angular transducer 5 fixing more firm.
In one feasible embodiment of the present invention, described Timing Belt wheel shaft 1 is provided with the first internal thread through hole 20 along pivot center vertical direction, it is equipped with the first tack holding screw 11 of output shaft for fixing described angular transducer 5 in described first internal thread through hole 20, further ensures that the output shaft of angular transducer 5 is connected with the fixing of Timing Belt wheel shaft 1.
In one feasible embodiment of the present invention, the length of described Timing Belt 8 is at least 1.5 times of belt wheel end 17 circumference.Rotation in ensureing to horizontally rotate 360 ° of joint, to realize bigger range of activity.
In one feasible embodiment of the present invention, described axle head 19 is arranged with two in parallel and rises as high as the banks 18, described mechanical arm connects fixture block side and has two the second internal thread through hole 27 in the horizontal direction, is equipped with the second internal thread through hole 27 for the described axle head 19 of fixing connection in two the second internal thread through hole 27.Second internal thread through hole 27 is connected through hole 26 axis direction through hole and intersects vertically with belt shaft, second tack holding screw 13 and the 3rd tack holding screw 14 are risen as high as the banks with two after being screwed into from two the second internal thread through hole 27 respectively and 18 are matched, become and be rigidly connected, described rise as high as the banks 18 width be a bit larger tham the nominal diameter of the second tack holding screw 13 and the 3rd tack holding screw 14, with fixing Timing Belt wheel shaft 1, realize axle head 19 and described mechanical arm connects the power between fixture block and transmits, then drive the second mechanical arm 38 being attached thereto to rotate.
Such as Fig. 6, shown in Fig. 7, in one feasible embodiment of the present invention, described mechanical arm connects fixture block and includes on mechanical arm fixture block 15 under fixture block 12 and mechanical arm, described mechanical arm is vertically provided with in the middle part of fixture block 12 belt shaft with axle head 19 interference fits and is connected through hole 26, two sides are provided with the connecting screw hole 29 for connecting the second mechanical arm 38 base plate, under described mechanical arm, the top of fixture block 15 is prolonged the belt shaft that vertical direction has with axle head 19 interference fits and is connected counterbore 31, bottom has the second countersunk head through hole 32 coordinated with the second crossed countersunk head screw 16, two sides are provided with the connecting screw hole 29 for connecting mechanical arm base plate, on described mechanical arm, under fixture block 12 and mechanical arm, fixture block 15 coordinates and is respectively provided with two sections of ladder half slots 30 being parallel to each other in plane, the spacing of described ladder half slot 30 and the diameter of belt wheel end 17 match.Wire rope casing penetrates the half slot being relatively large in diameter and is secured by from outside, and steel wire rope 28 passes from sleeve pipe, drives next joint motions by the half slot that diameter is less.Described wire rope casing includes outer wall plastic layer and braided wire rope layer from outside to inside, forms flexible transmission system.
The present invention utilizes two steel wire ropes 28 to simultaneously drive the motion of a Timing Belt wheel shaft 1, and the driving of general rope can be overcome can only to stretch incoercible shortcoming.Two steel wire ropes 28 are only subjected to pulling force, need not bear compression stress, just can complete the driving to the motion of joint both forward and reverse directions.When drive motor rotates to certain direction, Timing Belt 8 is driven to move, thus driving steel wire rope 28, steel wire rope 28 drives the Timing Belt 8 being positioned on joint, thus driving the Timing Belt wheel shaft 1 of the first mechanical arm 37 to rotate, Timing Belt wheel shaft 1 drives again on the mechanical arm connected firmly with it fixture block 15 under fixture block 12 and mechanical arm, thus driving the second mechanical arm 38 to rotate, it is achieved function of joint.Owing to passive and synchronous band is enclosed within passive belt wheel, because the length of Timing Belt 8 is at least 1.5 times of belt wheel end 17 circumference, so can guarantee that cradle head rotates within the scope of 360 °, meet bigger range of activity.
From the above, the rope that the present invention proposes drives the structure of mechanical arm cradle head, compared with driving joint of mechanical arm with other rope, has compact conformation, dismantled and assembled performance is good, error is little, it may be achieved accurately control, and space is big, the advantages such as coupling without joint motions, joint is unpowered component, it is possible to effectively alleviate the weight of mechanical arm, improves mechanical hand bearing capacity and and dynamic property.Synchronous pulley and joint main shaft are combined, simplifies structure, decrease because mechanism connects the kinetic equation loss brought.Joint installs additional angular transducer, in real time to controlling system feedback angle-data, to control motor correction deviation, improves kinematic accuracy and the operability of whole system.In the present invention, each drive motor drives a cradle head, during the rotation of drive motor, active synchronization band pulls steel cable, another steel cable is rotated joint and pulls, in whole driving process, steel wire rope remains tension, solves rope driving and can only stretch incoercible unipolarity problem.
The above embodiment of the present invention is only for clearly demonstrating example of the present invention, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.All any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within the protection domain of the claims in the present invention.
Claims (10)
1. the structure of a driving mechanical arm cradle head of restricting, it is characterized in that, including Timing Belt wheel shaft (1), Timing Belt (8), angular transducer (5), shoulder joint bearing (ball) cover (2), deep groove ball bearing (6), angular contact ball bearing (10), the mechanical arm being provided with connecting hole and steel wire rope through hole connects fixture block, described Timing Belt wheel shaft (1) from top to bottom includes belt wheel end (17) and axle head (19), axis along Timing Belt wheel shaft (1) is disposed with sensor pocket hole (21), sensor output shaft connecting hole (22), crossed countersunk head screw internal thread hole (23), described deep groove ball bearing (6) and angular contact ball bearing (10) inner ring are separately fixed on described belt wheel end (17), bottom, described belt wheel end (17) matches with Timing Belt (8), described axle head (19) is connected the fixing connection of connecting hole of fixture block with mechanical arm；The two ends of described Timing Belt (8) connect the rope driving device of tool rotating function respectively through steel wire rope (28)；Described shoulder joint bearing (ball) cover (2) is fixing on the robotic arm, matches with the outer ring of deep groove ball bearing (6) simultaneously；Described angular transducer (5) is arranged in Timing Belt wheel shaft (1), its housing and sensor pocket hole (21) matched in clearance, case top is fixing with shoulder joint bearing (ball) cover (2) simultaneously is connected, and the output shaft of described angular transducer (5) is fixing with sensor output shaft connecting hole (22) to be connected.
2. rope according to claim 1 drives the structure of mechanical arm cradle head; it is characterized in that: the housing also including inwall and angular transducer (5) closely cooperates, the column sensor protective sleeve (4) of outer wall and sensor pocket hole (21) matched in clearance; the top of described sensor protective sleeve (4) is fixing with shoulder joint bearing (ball) cover (2) to be connected, and bottom is centrally located the shoulder hole (36) coordinated with the output shaft clearance of described angular transducer (5).
3. rope according to claim 2 drives the structure of mechanical arm cradle head; it is characterized in that: described sensor protective sleeve (4) adopts integral type or dismantled and assembled split-type structural, is provided with the rectangular channel (34) for disposing circuit in the middle part of it.
4. rope according to claim 2 drives the structure of mechanical arm cradle head, it is characterised in that: described sensor protective sleeve (4) bottom is offsettingly provided with sunk screw and connects the countersunk screw hole (39) of Timing Belt wheel shaft (1).
5. rope according to claim 1 drives the structure of mechanical arm cradle head, it is characterized in that: described Timing Belt wheel shaft (1) is provided with the first internal thread through hole (20) along pivot center vertical direction, in described first internal thread through hole (20), be equipped with the tack holding screw of output shaft for fixing described angular transducer (5).
6. rope according to claim 1 drives the structure of mechanical arm cradle head, it is characterised in that: the length of described Timing Belt is at least 1.5 times of belt wheel end (17) circumference.
7. rope according to claim 1 drives the structure of mechanical arm cradle head, it is characterized in that: described axle head (19) is provided with rise as high as the banks (18), described mechanical arm connects fixture block side and has the second internal thread through hole (27) in the horizontal direction, is equipped with the tack holding screw for the described axle head of fixing connection (19) in described second internal thread through hole (27).
8. rope according to claim 1 drives the structure of mechanical arm cradle head, it is characterized in that: described mechanical arm connects fixture block and includes fixture block (15) under fixture block on mechanical arm (12) and mechanical arm, described mechanical arm is vertically provided with, in the middle part of fixture block (12), the belt shaft coordinated with axle head (19) and is connected through hole (26), two sides are provided with the connecting screw hole (29) for connecting mechanical arm base plate, under described mechanical arm, the top of fixture block (15) is prolonged vertical direction and is had the belt shaft coordinated with axle head (19) and be connected counterbore (31), bottom has the second countersunk head through hole (32) coordinated with the second crossed countersunk head screw (16), two sides are provided with the connecting screw hole (29) for connecting mechanical arm base plate, on described mechanical arm, under fixture block (12) and mechanical arm, fixture block (15) coordinates and is respectively provided with two sections of ladder half slots (30) being parallel to each other in plane, wire rope casing penetrates the half slot being relatively large in diameter and is secured by from outside, steel wire rope passes from sleeve pipe, next joint motions are driven by the half slot that diameter is less.
9. rope according to claim 8 drives the structure of mechanical arm cradle head, it is characterised in that: the spacing of described ladder half slot (30) and the diameter of belt wheel end (17) match.
10. rope according to claim 8 drives the structure of mechanical arm cradle head, it is characterised in that: described wire rope casing includes outer wall plastic layer and braided wire rope layer from outside to inside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610286881.7A CN105710895B (en) | 2016-04-29 | 2016-04-29 | A kind of structure for driving mechanical arm cradle head of restricting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610286881.7A CN105710895B (en) | 2016-04-29 | 2016-04-29 | A kind of structure for driving mechanical arm cradle head of restricting |
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| CN105710895A true CN105710895A (en) | 2016-06-29 |
| CN105710895B CN105710895B (en) | 2017-10-20 |
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| CN111700680A (en) * | 2019-11-20 | 2020-09-25 | 山东威高手术机器人有限公司 | Translation arm |
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| CN106363664A (en) * | 2016-11-03 | 2017-02-01 | 清华大学深圳研究生院 | Power device for mechanical arm |
| CN106363664B (en) * | 2016-11-03 | 2018-10-23 | 清华大学深圳研究生院 | A kind of power plant of mechanical arm |
| CN107901032A (en) * | 2017-09-26 | 2018-04-13 | 南京航空航天大学 | Friction free rope drives passive de-coupling mechanism and its decoupling antifriction method |
| CN107901032B (en) * | 2017-09-26 | 2020-11-20 | 南京航空航天大学 | Friction-free rope-driven passive decoupling mechanism and decoupling antifriction method thereof |
| CN111700680A (en) * | 2019-11-20 | 2020-09-25 | 山东威高手术机器人有限公司 | Translation arm |
| CN111700680B (en) * | 2019-11-20 | 2024-05-10 | 山东威高手术机器人有限公司 | Translation mechanical arm |
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| Publication number | Publication date |
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| CN105710895B (en) | 2017-10-20 |
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