CN105710895B - A kind of structure for driving mechanical arm cradle head of restricting - Google Patents
A kind of structure for driving mechanical arm cradle head of restricting Download PDFInfo
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- CN105710895B CN105710895B CN201610286881.7A CN201610286881A CN105710895B CN 105710895 B CN105710895 B CN 105710895B CN 201610286881 A CN201610286881 A CN 201610286881A CN 105710895 B CN105710895 B CN 105710895B
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- mechanical arm
- hole
- belt wheel
- timing belt
- shaft
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Classifications
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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 kind of structure for driving mechanical arm cradle head of restricting, including timing belt wheel shaft, timing belt, angular transducer, shoulder joint bearing (ball) cover, deep groove ball bearing, angular contact ball bearing, mechanical arm connection fixture block provided with connecting hole and steel wire rope through hole, described timing belt wheel shaft from top to bottom includes belt wheel end and shaft end, sensor pocket hole is disposed with along the axis of timing belt wheel shaft, sensor output shaft connecting hole, crossed countersunk head screw internal thread hole, the deep groove ball bearing and angular contact ball bearing inner ring are separately fixed on the belt wheel end by interference fits, bottom.The achievable large range of motion in joint of the present invention；Using removable assembling structure, facilitate the operational efficiency repaired and carried, simplify structure, improve joint, avoid joint motions coupling；Incoercible problem can only be stretched by solving during rope drives, simple in construction, and stroke range is big, is particularly suitable for mounting wheelchair, care bed etc., which is help the disabled, helps the elderly in equipment.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of structure for driving mechanical arm cradle head of restricting.
Background technology
Rope actuation techniques be gradually taken seriously in recent years, it mainly by by motor and arrangements for speed regulation all the bottom of installed in
On seat driving box, diarthrodial motion is driven by restricting, so that the weight of mechanical arm has been greatly reduced.Existing series connection rope drives
The difficulty of dynamic cradle head mechanism design than larger, it is necessary to the winding configuration and layout type of ingehious design rope, by multigroup
The winding repeatedly of wheel group, makes full use of rope drive to complete deceleration.Existing mode is to realize that speed governing and long-distance transmissions are dynamic
Power, wheel group is more, and mechanism is complicated, and weight is big, and can not solve joint motions coupling and the driving less shortcoming of scope.The present invention
The rope drive system cradle head of proposition, can significantly mitigate the complexity of mechanical arm deadweight and mechanism, improve mechanical arm and move
State property energy, it is complicated to solve articulation structure in rope actuation techniques in the past, the problem of range of movement is small and joint motions are coupled；Using
Removable assembling structure, convenient maintenance and carrying；Using major part integrated design, structure is simplified, the operation in joint is improved
Efficiency.The mechanical arm configuration, which is suitably mounted to wheelchair, care bed etc., helps the disabled and helps the elderly in equipment, can effectively help the elderly,
Disabled person realizes and taken care of oneself.
The content of the invention
The purpose of the present invention is to overcome deficiencies of the prior art there is provided a mechanism is simple, range of movement big, nothing
The rope driving mechanical arm cradle head of coupling, the purpose of the present invention is achieved through the following technical solutions：
A kind of structure for driving mechanical arm cradle head of restricting, including timing belt wheel shaft, timing belt, angular transducer, arm are closed
Bearings end cap, deep groove ball bearing, angular contact ball bearing, the mechanical arm connection fixture block provided with connecting hole and steel wire rope through hole, institute
The timing belt wheel shaft stated from top to bottom includes belt wheel end and shaft end, and sensor pocket is disposed with along the axis of timing belt wheel shaft
Hole, sensor output shaft connecting hole, crossed countersunk head screw internal thread hole, the deep groove ball bearing and angular contact ball bearing inner ring lead to
Cross interference fits and be separately fixed at belt wheel end upper and lower part, described belt wheel end is engaged with timing belt, described shaft end with
The connecting hole of mechanical arm connection fixture block is fixedly connected；The two ends of described timing belt pass through steel wire rope connection tool rotating work(respectively
The rope drive device of energy；Described shoulder joint bearing (ball) cover is fixed on the robotic arm, while matching with the outer ring of deep groove ball bearing
Close；Described angular transducer is arranged in timing belt wheel shaft, and its housing coordinates with sensor pocket interporal lacuna, while housing top
Portion is fixedly connected with shoulder joint bearing (ball) cover, and the output shaft of the angular transducer is fixed with sensor output shaft connecting hole to be connected
Connect.
The structure of rope driving mechanical arm cradle head drives timing belt using the timing belt of connecting steel wire ropes described in this programme
Wheel shaft is rotated, and the shaft end of timing belt wheel shaft is fixed on mechanical arm connection fixture block, and power is reached into next mechanical arm, driven next
Mechanical arm rotates.Timing belt wheel shaft is real respectively by two ball bearings on shoulder joint bearing (ball) cover and mechanical arm bottom plate
The now fixation axially and radially of vertical cradle head axle, it is ensured that stationarity of the belt shaft when rotating.Work as driving
During motor forward and backward, coupled timing belt motion is driven, and then pulls the rotation of timing belt wheel shaft, joint completes respective party
To action.
Further, housing tight fit, outer wall and the sensor pocket interporal lacuna of inwall and angular transducer are included
The column sensor protective sleeve of cooperation, the top of the sensor protective sleeve is fixedly connected with shoulder joint bearing (ball) cover, and bottom is occupied
In be provided with shoulder hole with the cooperation of the output shaft clearance of the angular transducer.
Further, described sensor protective sleeve uses dismantled and assembled split-type structural, and its middle part is provided with for disposing
The rectangular channel of circuit, facilitates the dismounting of angular transducer.
Further, described sensor protective sleeve bottom is offsettingly provided with sunk screw connection timing belt wheel shaft
Countersunk screw hole, make angular transducer fix it is more firm.
Further, pivot center vertical direction is provided with the first internal thread through hole, institute on described timing belt wheel shaft
The tack holding screw that the output shaft for fixing the angular transducer is equipped with the first internal thread through hole is stated, enters one
Step ensures the output shaft of angular transducer and being fixedly connected for timing belt wheel shaft.
Further, the length of described timing belt is at least 1.5 times of belt wheel end circumference.Guarantee horizontally rotates joint
360 ° in the range of rotate.
Further, it is provided with and rises as high as the banks on described shaft end, the mechanical arm connection fixture block side is provided with the horizontal direction
The tack clamp screw for being fixedly connected with the shaft end is equipped with second internal thread through hole, second internal thread through hole
Nail.The Kong Yuqi axis directions through hole intersects, and holding screw is screwed into from internal thread through hole, to fix timing belt wheel shaft, realizes
Power transmission between shaft end and mechanical arm connection fixture block, then drives the mechanical arm being attached thereto to rotate.
Further, the mechanical arm connection fixture block includes mechanical arm upper fixture block and mechanical arm lower fixture block, described machinery
The belt shaft coordinated with shaft end is vertically provided with the middle part of arm upper fixture block and is connected through hole, two sides are provided with for connecting machine
The connecting screw hole of tool arm bottom plate, the top of the mechanical arm lower fixture block, which prolongs vertical direction and is provided with the belt shaft coordinated with shaft end, to be connected
Counterbore, bottom is provided with the second countersunk head through hole with the second crossed countersunk head screw fit, and two sides are provided with for connecting mechanical arm
The connecting screw hole of bottom plate, the mechanical arm upper fixture block and mechanical arm lower fixture block coordinate sets two sections to be parallel to each other respectively in plane
Ladder half slot, wire rope casing penetrates the half slot being relatively large in diameter from outside and is secured by it, and steel wire rope is passed from sleeve pipe,
Next joint motions are driven by the less half slot of diameter.
Further, the spacing and the diameter at belt wheel end of described ladder half slot match.
Further, the wire rope casing includes outer wall plastic layer and braided wire rope layer from outside to inside.
Compared with prior art, the invention has the advantages that and effect：
This rope drives mechanical arm cradle head, and drive form pulls synchronous pulley rotation from timing belt, by timing belt tooth
Realization transmission is engaged between synchronous pulley teeth, both make peripheral speed synchronous without relative slip.Operate steadily, be driven
Than constant, compact conformation, transmission efficiency.
Critical piece uses modularization composite structural design, and timing belt wheel shaft combines synchronous pulley and joint live spindle
Get up, simplify articulation structure, because the reduction of part improves operational efficiency.Timing belt wheel shaft be designed with ball bearing
The step surface coordinated is enclosed, the fixation axially and radially of vertical cradle head axle is realized in belt wheel end by two ball bearings.
When timing belt wheel shaft rotates, two ball bearing inner ring synchronous rotaries on axle journal reduce frictional resistance.
Using the bracing wire being made up of bracing wire steel wire rope and bracing wire sleeve, the end of sleeve is fixed, motor, which drives, to be drawn
Line steel wire rope moves to reach transmission purpose in bracing wire sleeve.The motion in one joint will not produce influence to other joints,
Avoid the problem of joint motions are coupled in rope driving.
Angular transducer is installed additional in timing belt wheel shaft rotation axis direction, and angular transducer axle is fixed on together by holding screw
Walk in belt shaft axis through bore.When timing belt wheel shaft drives joint rotation, the synchronous rotation of angular transducer axle, Ke Yijing
Accurate record joint rotation angle, the data point reuse joint position for being easy to control system to be passed back according to angular transducer realizes essence
Really control.Install the angular transducer protective case of parting formula outside angular transducer additional, while realization to angle sensor protection again
It is easy to dismounting.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of the structure for 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 schematic cross-sectional view 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 structure schematic diagram of mechanical arm up/down fixture block in Fig. 1.
Fig. 7 is the structural representation of mechanical arm lower fixture block in Fig. 1.
Fig. 8 is the structural representation of angular transducer protective case in Fig. 1.
Fig. 9 is the Local Structure schematic diagram of angular transducer protective case in Fig. 1.
It is shown in figure：1- timing belt wheel shafts；2- shoulder joint bearing (ball) covers；3- the first crossed countersunk head screws；4- sensors
Protective case；5- angular transducers；6- deep groove ball bearings；7- belt wheel small end packing rings；8- timing belts；The big end packing ring of 9- belt wheels；10- angles
Contact ball bearing；11- the first tack holding screws；12- mechanical arm upper fixture blocks；13- the second tack holding screws；14- the 3rd is flat
Head holding screw；15- mechanical arm lower fixture blocks；16- the second crossed countersunk head screws；17- belt wheels end；18- rises as high as the banks；19- shaft ends；20-
First internal thread through hole；21- protective case receiving holes；22- sensor output shaft connecting holes；23- crossed countersunk head screw internal thread holes；
24- step surfaces；25- the first countersunk head through holes；26- belt shafts connect through hole；The internal thread through hole of 27- second；28- steel wire ropes；29- connects
Connect screw；30- ladder half slots；31- belt shafts connect counterbore；32- the second countersunk head through holes；The internal thread through hole of 33- the 3rd；34-
Rectangular channel；35- sensors fix inner chamber；36- shoulder holes；37- first mechanical arms；38- second mechanical arms；39- countersunk screw holes.
Embodiment
The specific implementation to the present invention is described in further detail below in conjunction with the accompanying drawings, but the implementation of the present invention is not limited to
This.
As shown in Figures 1 to 4, a kind of structure for driving mechanical arm cradle head of restricting, including timing belt wheel shaft 1, timing belt
8th, angular transducer 5, shoulder joint bearing (ball) cover 2, deep groove ball bearing 6, angular contact ball bearing 10, logical provided with connecting hole and steel wire rope
The mechanical arm connection fixture block in hole, described timing belt wheel shaft 1 from top to bottom includes belt wheel end 17 and shaft end 19, along timing belt wheel shaft
1 axis is disposed with sensor pocket hole 21, sensor output shaft connecting hole 22, crossed countersunk head screw internal thread hole 23,
Deep groove ball bearing 6 and angular contact ball bearing 10 inner ring is separately fixed at the upper and lower part of belt wheel end 17, meanwhile, deep-groove ball
Belt wheel small end packing ring 7, the angular contact ball bearing 10 and belt wheel end are provided between the inner ring end face of bearing 6 and the shaft shoulder of belt wheel end 17
The big end packing ring 9 of belt wheel is provided between 17 shaft shoulders, being axially and radially accurately positioned for bearing is realized, described belt wheel end 17 with it is same
Step band 8 is engaged, and the connecting hole that described shaft end 19 is connected fixture block with mechanical arm is fixedly connected；The two ends of described timing belt 8
The rope drive device for having positive and negative rotating function is connected by steel wire rope 28 respectively；Described shoulder joint bearing (ball) cover 2 is fixed on first
On mechanical arm 37, while being engaged with the outer ring of deep groove ball bearing 6, the described exterior arc surface of shoulder joint bearing (ball) cover 2 and first
The bottom plate arc surface of mechanical arm 37 coordinates, and two sides are provided with connecting screw hole 29, the bottom plate of first mechanical arm 37 is fixed in screw
On, centre is provided with the step surface 24 that diameter is interference fitted with the outer ring of deep groove ball bearing 6, and its center of circle exists with the axis of timing belt wheel shaft 1
On the same line, top center is provided with four the first countersunk head through holes 25 (see Fig. 5), will be passed with the first crossed countersunk head screw 3
Sensor protective case 4 couples with shoulder joint bearing (ball) cover 2, the epitaxial end of shoulder joint bearing (ball) cover 2 fluting.
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 coordinates with the gap of sensor pocket hole 21, while case top is fixedly connected with shoulder joint bearing (ball) cover 2, the angle is passed
The output shaft of sensor 5 is fixedly connected with sensor output shaft connecting hole 22 by interference fits.
The structure of rope driving mechanical arm cradle head drives synchronization using the timing belt 8 of connecting steel wire ropes described in the present embodiment
Belt shaft is rotated, and the shaft end 19 of timing belt wheel shaft 1 is fixed on mechanical arm connection fixture block, and power is reached into second mechanical arm 38,
Second mechanical arm 38 is driven to rotate.Belt wheel end 17 uses standard component specification, and size, tooth form and respective synchronization band 8 are supporting, timing belt
8 pulling timing belt wheel shafts 1 rotate, and power are transferred into second mechanical arm 38, to reach function of joint.Timing belt wheel shaft 1 is distinguished
By two ball bearings on shoulder joint bearing (ball) cover 2 and the bottom plate of first mechanical arm 37, vertical cradle head axle is realized
Fixation axially and radially, it is ensured that stationarity and flexibility of the timing belt wheel shaft 1 when rotating.Work as motor
During forward and backward, drive coupled timing belt 8 to move, and then pull timing belt wheel shaft 1 to rotate, joint completes respective direction
Action.
As shown in Figure 8, Figure 9, in a feasible embodiment of the invention, sensor pocket hole 21 also includes inwall and angle
The column sensor protective sleeve 4 that housing tight fit, outer wall and the gap of sensor pocket hole 21 of sensor 5 coordinate is spent, it is described
The top of sensor protective sleeve 4 is provided with four the 3rd internal thread through hole 33, and four the 10th are passed through with shoulder joint bearing (ball) cover 2
Word sunk screw 3 is fixedly connected, and bottom is centrally located the shoulder hole with the output shaft clearance cooperation of the angular transducer 5
36, facilitate the installation and operating of angular transducer 5.
In a feasible embodiment of the invention, described sensor protective sleeve 4 uses dismantled and assembled split-type structural, its
Middle part is provided with the rectangular channel 34 for disposing circuit, facilitates the dismounting of angular transducer.
In a feasible embodiment of the invention, it is heavy that the described bottom of sensor protective sleeve 4 is offsettingly provided with
The countersunk screw hole 39 of head mode connects for screw timing belt wheel shaft 1, makes angular transducer 5 fix more firm.
In a feasible embodiment of the invention, set on described timing belt wheel shaft 1 along pivot center vertical direction
Have in the first internal thread through hole 20, first internal thread through hole 20 and be equipped with for fixing the angular transducer 5
First tack holding screw 11 of output shaft, further ensures that the output shaft of angular transducer 5 and the fixed company of timing belt wheel shaft 1
Connect.
In a feasible embodiment of the invention, the length of described timing belt 8 is at least the circumference of belt wheel end 17
1.5 again.Ensure to horizontally rotate in the range of 360 ° of joint and rotate, to realize larger scope of activities.
In a feasible embodiment of the invention, two rise as high as the banks 18, the machine are arranged with described shaft end 19 in parallel
Tool arm connection fixture block side is provided with two the second internal thread through hole 27, two the second internal thread through hole 27 in the horizontal direction to be coordinated
It is provided with the second internal thread through hole 27 for being fixedly connected with the shaft end 19.Second internal thread through hole 27 is connected logical with belt shaft
The axis direction through hole of hole 26 intersects vertically, and the second tack holding screw 13 and the 3rd tack holding screw 14 are respectively from two second
Rise as high as the banks with two after being screwed into internal thread through hole 27 and 18 be engaged, as being rigidly connected, 18 width of rising as high as the banks is slightly larger than the
The nominal diameter of two tack holding screws 13 and the 3rd tack holding screw 14, to fix timing belt wheel shaft 1, realizes the He of shaft end 19
Power transmission between the mechanical arm connection fixture block, then drives the second mechanical arm 38 being attached thereto to rotate.
As shown in Figure 6, Figure 7, in a feasible embodiment of the invention, the mechanical arm connection fixture block includes mechanical arm
Upper fixture block 12 and mechanical arm lower fixture block 15, the described middle part of mechanical arm upper fixture block 12 are vertically provided with and the transition of shaft end 19
The belt shaft connection through hole 26 of cooperation, two sides are provided with the connecting screw hole 29 for connecting the bottom plate of second mechanical arm 38, described
The top of mechanical arm lower fixture block 15 is prolonged vertical direction and is provided with is connected counterbore 31 with the belt shaft of the interference fits of shaft end 19, and bottom is provided with
The the second countersunk head through hole 32 coordinated with the second crossed countersunk head screw 16, two sides are provided with the connection for connecting mechanical arm bottom plate
Screw 29, the mechanical arm upper fixture block 12 and mechanical arm lower fixture block 15 coordinate sets two sections of ladders being parallel to each other respectively in plane
Half slot 30, the spacing and the diameter at belt wheel end 17 of described ladder half slot 30 match.Wire rope casing is penetrated from outside
The half slot that is relatively large in diameter simultaneously is secured by it, and steel wire rope 28 is passed from sleeve pipe, is driven by the less half slot of diameter next
Individual joint motions.The wire rope casing includes outer wall plastic layer and braided wire rope layer, composition Flexible Transmission system from outside to inside
System.
The present invention drives the motion of a timing belt wheel shaft 1 using two steel wire ropes 28 simultaneously, can overcome general rope driving
Incoercible shortcoming can only be stretched.Two steel wire ropes 28 are only subjected to pulling force, without bearing compression stress, just can complete to joint
The driving of both forward and reverse directions motion.When motor is rotated to some direction, timing belt 8 is driven to move, so as to drive steel wire rope
28, steel wire rope 28 drives the timing belt 8 being located on joint, so that drive the timing belt wheel shaft 1 of first mechanical arm 37 to rotate, it is synchronous
Belt shaft 1 drives the mechanical arm upper fixture block 12 and mechanical arm lower fixture block 15 connected firmly with it again, so as to drive 38 turns of second mechanical arm
It is dynamic, realize function of joint.Because passive and synchronous band is enclosed on passive belt wheel, justify because the length of timing belt 8 is at least belt wheel end 17
1.5 times of girth, so can guarantee that cradle head rotates in the range of 360 °, meet larger scope of activities.
From the foregoing, the structure of rope driving mechanical arm cradle head proposed by the present invention, with other rope driving mechanical arms
Joint is compared, with compact conformation, and dismantled and assembled performance is good, and error is small, and accurate control can be achieved, and space is big, no joint fortune
The advantages of dynamic coupling, joint is unpowered component can effectively mitigate the weight of mechanical arm, improve manipulator bearing capacity and
And dynamic property.Synchronous pulley and joint main shaft are combined, structure is simplified, reduced because the power that mechanism connect band is come is damaged
Consumption.Install angular transducer in joint additional, in real time to control system feedback angle data, with controlled motor amendment deviation, improve
The kinematic accuracy and operability of whole system.Each motor drives a cradle head in the present invention, motor
During rotation, active synchronization band pulls steel cable, and another steel cable is rotated joint pulling, steel wire during whole driving
Rope remains tension, and incoercible unidirectional sex chromosome mosaicism can only be stretched by solving rope driving.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, it can also make on the basis of the above description
Other various forms of changes or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all the present invention
Any modifications, equivalent substitutions and improvements made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (10)
1. it is a kind of restrict driving mechanical arm cradle head structure, it is characterised 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), provided with connecting hole and steel
The mechanical arm connection fixture block of cord through hole, described timing belt wheel shaft (1) from top to bottom includes belt wheel end (17) and shaft end (19),
Along the axis of timing belt wheel shaft (1) be disposed with sensor pocket hole (21), sensor output shaft connecting hole (22), cross sink
Head screw internal thread hole (23), the deep groove ball bearing (6) and angular contact ball bearing (10) inner ring are separately fixed at the belt wheel
(17) upper and lower part is held, described belt wheel end (17) is engaged with timing belt (8), described shaft end (19) and mechanical arm connection clip
The connecting hole of block is fixedly connected；The two ends of described timing belt (8) are connected by steel wire rope (28) respectively has positive and negative rotating function
Rope drive device；Described shoulder joint bearing (ball) cover (2) is fixed on the robotic arm, while the outer ring phase with deep groove ball bearing (6)
Coordinate；Described angular transducer (5) is arranged in timing belt wheel shaft (1), and its housing is matched somebody with somebody with sensor pocket hole (21) gap
Close, while case top is fixedly connected with shoulder joint bearing (ball) cover (2), the output shaft and sensor of the angular transducer (5)
Output shaft connecting hole (22) is fixedly connected.
2. the structure of rope driving mechanical arm cradle head according to claim 1, it is characterised in that：Also include inwall and angle
Spend the column sensor protective sleeve that housing tight fit, outer wall and sensor pocket hole (21) gap of sensor (5) coordinate
(4), the top of the sensor protective sleeve (4) is fixedly connected with shoulder joint bearing (ball) cover (2), bottom be centrally located with it is described
The shoulder hole (36) that the output shaft clearance of angular transducer (5) coordinates.
3. the structure of rope driving mechanical arm cradle head according to claim 2, it is characterised in that：Described sensor is protected
Sheath (4) uses integral type or dismantled and assembled split-type structural, and its middle part is provided with the rectangular channel (34) for disposing circuit.
4. the structure of rope driving mechanical arm cradle head according to claim 2, it is characterised in that：Described sensor is protected
Sheath (4) bottom is offsettingly provided with the countersunk screw hole (39) of sunk screw connection timing belt wheel shaft (1).
5. the structure of rope driving mechanical arm cradle head according to claim 1, it is characterised in that：Described synchronous pulley
It is provided with the first internal thread through hole (20), first internal thread through hole (20) and matches somebody with somebody along pivot center vertical direction on axle (1)
Conjunction is provided with the tack holding screw of the output shaft for fixing the angular transducer (5).
6. the structure of rope driving mechanical arm cradle head according to claim 1, it is characterised in that：Described timing belt
Length is at least 1.5 times of belt wheel end (17) circumference.
7. the structure of rope driving mechanical arm cradle head according to claim 1, it is characterised in that：Described shaft end (19)
On be provided with rise as high as the banks (18), mechanical arm connection fixture block side is provided with the second internal thread through hole (27) in the horizontal direction, described
The tack holding screw for being fixedly connected with the shaft end (19) is equipped with second internal thread through hole (27).
8. the structure of rope driving mechanical arm cradle head according to claim 1, it is characterised in that：The mechanical arm connection
Fixture block is included in the middle part of mechanical arm upper fixture block (12) and mechanical arm lower fixture block (15), described mechanical arm upper fixture block (12) along vertical side
The belt shaft coordinated to being provided with shaft end (19) is connected through hole (26), and two sides are provided with the company for connecting mechanical arm bottom plate
Connect screw (29), the top of the mechanical arm lower fixture block (15), which prolongs vertical direction and is provided with the belt shaft coordinated with shaft end (19), to be connected
Counterbore (31), bottom is provided with the second countersunk head through hole (32) coordinated with the second crossed countersunk head screw (16), and two sides are provided with use
In the connecting screw hole (29) of connection mechanical arm bottom plate, the mechanical arm upper fixture block (12) and mechanical arm lower fixture block (15) coordinate plane
Upper to set two sections of ladder half slots (30) being parallel to each other respectively, wire rope casing penetrates the half slot being relatively large in diameter from outside simultaneously
It is secured by it, steel wire rope is passed from sleeve pipe, next joint motions is driven by the less half slot of diameter.
9. the structure of rope driving mechanical arm cradle head according to claim 8, it is characterised in that：Described ladder semicircle
The spacing of groove (30) and the diameter of belt wheel end (17) match.
10. the structure of rope driving mechanical arm cradle head according to claim 8, it is characterised in that：The steel wire loop
Pipe 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105710895A CN105710895A (en) | 2016-06-29 |
| CN105710895B true CN105710895B (en) | 2017-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610286881.7A Expired - Fee Related CN105710895B (en) | 2016-04-29 | 2016-04-29 | A kind of structure for driving mechanical arm cradle head of restricting |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN111700680B (en) * | 2019-11-20 | 2024-05-10 | 山东威高手术机器人有限公司 | Translation mechanical arm |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200425782Y1 (en) * | 2006-06-29 | 2006-09-07 | 최광술 | Cable guide system industrial robot |
| CN2918049Y (en) * | 2006-07-14 | 2007-07-04 | 严培义 | Connecting equipment for powder forming machine main axle and angular transducer |
| JP2010266010A (en) * | 2009-05-15 | 2010-11-25 | Toshiba Mach Co Ltd | Belt tension adjusting device |
| CN202393371U (en) * | 2011-12-31 | 2012-08-22 | 中联重科股份有限公司 | Angle sensing assembly and vehicle with same |
| CN102672715B (en) * | 2012-05-15 | 2015-08-26 | 华南理工大学 | One is help the disabled/is helped the elderly by rope driving machine mechanical arm |
| CN103085081B (en) * | 2013-01-29 | 2015-01-07 | 东华大学 | Hinge joint mechanism with angular displacement sensor |
| CN205614700U (en) * | 2016-04-29 | 2016-10-05 | 华南理工大学 | Rope driving device arm rotation joint's structure |
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2016
- 2016-04-29 CN CN201610286881.7A patent/CN105710895B/en not_active Expired - Fee Related
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