CN105773598B - A kind of manipulator based on rope body pulling force transmission - Google Patents
A kind of manipulator based on rope body pulling force transmission Download PDFInfo
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- CN105773598B CN105773598B CN201610292470.9A CN201610292470A CN105773598B CN 105773598 B CN105773598 B CN 105773598B CN 201610292470 A CN201610292470 A CN 201610292470A CN 105773598 B CN105773598 B CN 105773598B
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- roll
- rope body
- fixed
- large arm
- joint
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to operating robot technical fields, especially a kind of manipulator based on rope body pulling force transmission, including pedestal, the large arm of the waist joint component and waist joint member hinges that are installed in rotation on pedestal and the hinged middle arm of large arm and the hinged forearm of middle arm and the grasping mechanism mounted on forearm outer end.The present invention is based on the driving devices that driving waist joint component rotation is equipped in the pedestal of the manipulator of rope body pulling force transmission, driving device is preposition in pedestal, this kind of layout structure can greatly reduce the quality of each component of manipulator, and then reduce the rotary inertia of manipulator, be conducive to the rigidity for improving mechanism.
Description
Technical field
The present invention relates to a kind of manipulators based on rope body pulling force transmission, belong to operating robot technical field.
Background technology
Medical treatment and nursing machine people is designed exclusively for the elderly of disabled person, heavy patient and trick inconvenience.It is curing
In the research for treating nursing robot, the starting in Europe and the U.S. is more early.Have daily nursing robot system in the world now, this
One system can be in bed state, body in disabled person cannot be freely movable, by the way that the nursing dress in bedside is arranged
It sets, handicapped people is helped to pick up article, to carry out diet treatment to people.
Application No. is the Chinese patent of CN201410848341.4 disclose it is a kind of " a kind of based on the minimally invasive of wire rope gearing
Operating robot main manipulator ", first three joint of the main manipulator are wire rope gearing, but the rope drive, which is friction, to be passed
It is dynamic, it needs larger pretightning force to provide enough frictional force, is in addition likely to result in the danger such as skidding under high load.
Invention content
The purpose of the present invention is overcoming defect of the existing technology, a kind of machinery based on rope body pulling force transmission is provided
Hand is skidded existing using rope body pulling force transmission caused by mechanism is compacter and avoidable Wire Friction Driving in the prior art
As.
The technical solution adopted by the present invention to solve the technical problems is：
The manipulator based on rope body pulling force transmission of the present invention includes pedestal, the waist joint that is installed in rotation on pedestal
Component, with the large arm of waist joint member hinges, with the hinged middle arm of large arm, with the hinged forearm of middle arm and be mounted on forearm outer end
The grasping mechanism in portion, is equipped with the driving device of driving waist joint component rotation in the pedestal, the waist joint component include by
Waist joint, the motor bin being fixed on above waist joint and the roll being fixed on above the motor bin peace of the driving device driving
It shelves, the large arm is hinged by the first driving joint and the roll mounting bracket, and the middle arm passes through the second driving joint
Hinged with the large arm, the roll mounting bracket inner disc is wound with the first transmission rope group and the second transmission rope group, the motor bin
It is inside equipped with the first driver and the second driver, first driver is closed by the first transmission of the first transmission rope group driving
Section rotation, first driving joint drive the large arm rotation, second driver to be driven by the second transmission rope group
The dynamic second driving joint rotation, second driving joint drive the middle arm rotation.
Waist joint of the present invention is installed in rotation on by bearing above the pedestal, and the driving device is deflection
Cylinder, servo motor or stepper motor.
It is equipped with the first roll, the second roll and guide wheel group in roll mounting bracket of the present invention, described first
Roll is rigidly connected by the main shaft of first shaft coupling and first driver, and second roll passes through the second shaft coupling
The main shaft of device and second driver is rigidly connected, the guide wheel group be fixed in roll mounting bracket and positioned at first around
Between spool and the second roll.
First driving joint of the present invention includes the large arm roll being fixed in large arm and is installed in rotation on big
Coiling lantern ring on arm roll, second driving joint include the middle arm roll being fixed on middle arm, described first around
The first transmission rope group is set on spool, and the first transmission rope group is by the guide wheel group around being connected to the large arm coiling
On axis, the second transmission rope group is set on second roll, the second transmission rope group by the guide wheel group and
Coiling lantern ring is around being connected on the middle arm roll.
Guide wheel group of the present invention includes the first directive wheel, the second directive wheel, third directive wheel and the 4th directive wheel, institute
It includes the first rope body and the second rope body to state the first transmission rope group, and the second transmission rope group includes third rope body and the 4th rope body.
One end of first rope body of the present invention is fixed on the lower section of the first roll, in the side inverse time of the first roll
Needle is around 1~5 circle, by the 4th directive wheel around to large arm roll, in the side of large arm roll counterclockwise around 1~5 circle, finally
Large arm roll will be fixed on after the other end tensioning of first rope body close to one end of the 4th directive wheel, the one of the second rope body
End is fixed on the top of the first roll, counterclockwise around 1~5 circle on the first roll, by the first directive wheel around to large arm
Roll will be finally fixed in the other side of large arm roll counterclockwise around 1~5 circle after the other end tensioning of the second rope body
Roll is close to one end of the first directive wheel.
One end of third rope body of the present invention is fixed on the lower section of the second roll, on the second roll clockwise about
Then 1~5 circle passes through the second directive wheel around on coiling lantern ring, in the side of coiling lantern ring clockwise about 1 circle, further around into
It is closely described finally will to be fixed on middle arm rest after the tensioning of the other end of third rope body for the side of arm roll and clockwise about 1~5 circle
The one end on the top of large arm one end, the 4th rope body is fixed on the top of the second roll, on the second roll clockwise
Around 1~5 circle, then pass through third directive wheel around on coiling lantern ring, in the other side of coiling lantern ring clockwise about 1 circle, further around
To the other side of middle arm roll clockwise about 1~5 circle, by being fixed on middle arm after finally the other end of the 4th rope body is tensioned
Lower part close to described large arm one end.
The other end of forearm of the present invention is equipped with the second straight drive joint, and the second straight joint of driving includes being fixed on forearm
Crawl supporting rack, the second direct driving motor, the output shaft of second direct driving motor and crawl are installed on the crawl supporting rack
The chassis of mechanism is fixed.
The other end of forearm of the present invention is equipped with crawl supporting rack, installs second on the crawl supporting rack and directly drives electricity
Machine, the output shaft of second direct driving motor and the chassis of grasping mechanism are fixed.
First driver and the second driver of the present invention are servo motor or stepper motor.
The present invention is based on the manipulators of rope body pulling force transmission to have effect below：The present invention is based on rope body pulling force transmissions
Manipulator includes pedestal, is installed in rotation on pedestal waist joint component, large arm and large arm with waist joint member hinges
Hinged middle arm and the hinged forearm of middle arm and the grasping mechanism mounted on forearm outer end, wherein driving waist is equipped in pedestal
The driving device of joint assembly rotation, driving device is preposition in pedestal, this kind of layout structure can greatly reduce each portion of manipulator
The quality of part, and then reduce the rotary inertia of manipulator, be conducive to the rigidity for improving mechanism.Waist joint component includes being filled by driving
Set the waist joint of driving, the motor bin being fixed on above waist joint and the roll mounting bracket being fixed on above motor bin, large arm
Hinged by the first driving joint and roll mounting bracket, middle arm is hinged by the second driving joint and large arm, roll installation
Frame inner disc is wound with the first transmission rope group and the second transmission rope group, is equipped with the first driver and the second driver in motor bin, and first
Driver drives the rotation of the first driving joint, the first driving joint to drive large arm rotation, the second driving by the first transmission rope group
Device drives the rotation of the second driving joint by the second transmission rope group, and arm rotates during the second driving joint drives, the first driving joint
Wire rope gearing is used with the second driving joint, the volume of each component in mechanism is effectively reduced, with Wire Friction Driving phase
Than mechanism is compacter, and can reduce steel rope abrasion, is driven using lineoutofservice signal pull, by being suitably tensioned, can effectively keep away
Exempt from return difference problem.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the overall structure diagram based on lineoutofservice signal pull transmission machinery people manipulator of the present invention；
Fig. 2 is the structural schematic diagram of the pedestal based on lineoutofservice signal pull transmission machinery people manipulator of the present invention；
Fig. 3 is the roll mounting bracket internal structure signal based on lineoutofservice signal pull transmission machinery people manipulator of the present invention
Figure；
Fig. 4 is the first driving joint structural schematic diagram based on lineoutofservice signal pull transmission machinery people manipulator of the present invention；
Fig. 5 is the second driving joint structural schematic diagram based on lineoutofservice signal pull transmission machinery people manipulator of the present invention；
Fig. 6 is the grasping mechanism mounting structure schematic diagram based on lineoutofservice signal pull transmission machinery people manipulator of the present invention.
Wherein：Pedestal 1, driving device 11, bearing 12；
Waist joint component 2, the first driver 21, the second driver 22, roll mounting bracket 23, first shaft coupling 231, the
One roll 232, second shaft coupling 233, the second roll 234, guide wheel group 235, the first directive wheel 2351, the second directive wheel
2352, third directive wheel 2353, the 4th directive wheel 2354；
Large arm 3；Middle arm 4；Forearm 5；Grasping mechanism 6；
First driving joint 7, large arm roll 71, coiling lantern ring 72；
Second driving joint 8, middle arm roll 81；
First straight drive joint 91, the first direct driving motor 911, forearm supporting rack 912, forearm link 913, the second straight drive are closed
Section 92, the second direct driving motor 921 capture supporting rack 922.
Specific implementation mode
In the description of the present invention, it is to be understood that, term " radial direction ", " axial direction ", "upper", "lower", "top", "bottom",
The orientation or positional relationship of the instructions such as "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the present invention and simplifies description, do not indicate or imply the indicated device or element must have a particular orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention.In the description of the present invention, unless otherwise indicated,
The meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set
Set ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
It, can also be indirectly connected through an intermediary to be to be connected directly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in figures 1 to 6, the manipulator based on rope body pulling force transmission of the present embodiment includes pedestal 1, is rotatably mounted
Waist joint component 2 and the hinged large arm 3 of waist joint component 2 and the hinged middle arm 4 of large arm 3 and middle arm 4 on pedestal 1 are cut with scissors
The forearm 5 connect and the grasping mechanism 6 mounted on 5 outer end of forearm.Wherein, 2 rotation of driving waist joint component is equipped in pedestal 1
Driving device 11, waist joint component 2 includes the waist joint driven by driving device 11, the motor bin that is fixed on above waist joint and
The roll mounting bracket 23 being fixed on above motor bin, large arm 3 is hinged by the first driving joint 7 and roll mounting bracket 23,
Middle arm 4 is hinged by the second driving joint 8 and large arm 3, and 23 inner disc of roll mounting bracket is wound with the first transmission rope group and second and passes
Running rope group, motor bin is interior to be equipped with the first driver 21 and the second driver 22, and the first driver 21 is driven by the first transmission rope group
Dynamic first driving joint 7 rotation, the first driving joint 7 drive large arm 3 to rotate, and the second driver 22 is driven by the second transmission rope group
Dynamic second driving joint 8 rotation, arm 4 rotates during the second driving joint 8 drives.
The driving device 11 of the manipulator based on rope body pulling force transmission of the present embodiment is preposition in pedestal 1, this kind layout
Structure can greatly reduce the quality of each component of manipulator, and then reduce the rotary inertia of manipulator, be conducive to improve the rigid of mechanism
Degree.
The waist joint of the present embodiment is installed in rotation on 1 top of pedestal by bearing 12, and driving device 11 is deflection gas
Cylinder, servo motor or stepper motor, driving device 11 drive waist joint rotation, manipulator may be implemented and integrally turn about the Z axis.
The first roll 232, the second roll 234 and guide wheel group 235, the first coiling are equipped in roll mounting bracket 23
Axis 232 is rigidly connected by the main shaft of first shaft coupling 231 and the first driver 21, and the second roll 234 passes through the second shaft coupling
The main shaft of device 233 and the second driver 22 is rigidly connected, and guide wheel group 235 is fixed in roll mounting bracket 23 and is located at first
Between roll 232 and the second roll 234.
First driving joint 7 includes the large arm roll 71 being fixed in large arm 3 and is installed in rotation on large arm coiling
Coiling lantern ring 72 on axis 71, the second driving joint 8 include the middle arm roll 81 being fixed on middle arm 4, the first roll 232
The first transmission rope group of upper setting, the first transmission rope group by guide wheel group 235 around being connected on large arm roll 71, the second roll
Second transmission rope group is set on 234, and the second transmission rope group is by guide wheel group 235 and coiling lantern ring 72 around being connected to middle arm roll
On 81.
Wherein, guide wheel group 235 includes the first directive wheel 2351, the second directive wheel 2352, third directive wheel 2353 and the
Four directive wheels 2354, the first transmission rope group include the first rope body and the second rope body, and the second transmission rope group includes third rope body and the
The specific wrapping system of four rope bodies, the first transmission rope group and the second transmission rope group is as follows：One end of first rope body is fixed on first
The lower section of roll 232, in the side of the first roll 232 counterclockwise around 1~5 circle, by the 4th directive wheel 2354 around to big
Arm roll 71 finally will be solid after the other end tensioning of the first rope body in the side of large arm roll 71 counterclockwise around 1~5 circle
Large arm roll 71 is scheduled on close to one end of the 4th directive wheel 2354, one end of the second rope body is fixed on the first roll 232
Top, counterclockwise around 1~5 circle on the first roll 232, by the first directive wheel 2351 around to large arm roll 71, big
The other side of arm roll 71 finally will be fixed on large arm roll counterclockwise around 1~5 circle after the other end tensioning of the second rope body
71 close to one end of the first directive wheel 2351.
One end of third rope body is fixed on the lower section of the second roll 234, clockwise about 1~5 on the second roll 234
Circle, then passes through the second directive wheel 2352 around on coiling lantern ring 72, in the side of coiling lantern ring 72 clockwise about 1 circle, further around
To the side of middle arm roll 81 and clockwise about 1~5 circle, middle arm 4 is fixed on after being finally tensioned the other end of third rope body
The one end on the top close to 3 one end of large arm, the 4th rope body is fixed on the top of the second roll 234, on the second roll 234
Clockwise about 1~5 circle, then pass through third directive wheel 2353 around on coiling lantern ring 72, it is suitable in the other side of coiling lantern ring 72
The other end of 4th rope body, clockwise about 1~5 circle, is finally tensioned around 1 circle further around to the other side of middle arm roll 81 by hour hands
Afterwards by being fixed on lower part of the middle arm 4 close to 3 one end of large arm.
When the energization of the first driver 21 rotates clockwise, driving force passes to the first coiling by first shaft coupling 231
Axis 232, then the first rope body wrapped anti-clockwise on the first roll 232 is driven, by the 4th directive wheel 2354, large arm roll
71, bearing of the final force effect in the first rope body on large arm roll 71, rotation axis is the axis of large arm roll 71,
The position of power is large arm roll 71 close to one end of the 4th directive wheel 2354, therefore generates a torque, drives large arm 3 inverse
Hour hands rotate.
When the energization of the first driver 21 rotates counterclockwise, driving force passes to the first coiling by first shaft coupling 231
Axis 232, then the second rope body wound clockwise on the first roll 232 is driven, by the first directive wheel 2351, large arm roll
71, bearing of the final force effect in the second rope body in large arm 3, rotation axis is the axis of large arm roll 71, the work of power
It is large arm roll 71 close to one end of the first directive wheel 2351 with point, therefore generates a torque, large arm 3 is driven to turn clockwise
It is dynamic.
When the energization of the second driver 22 rotates clockwise, driving force passes to the second coiling by second shaft coupling 233
Axis 234, then third rope body wrapped anti-clockwise on the second roll 234 is driven, by the second directive wheel 2352, coiling lantern ring 72
With middle arm roll 81, bearing of the final force effect in third rope body on middle arm 4, rotation axis is middle arm roll 81
Axis, the position of power are middle arm 4 close to the top of 3 one end of large arm, therefore generate a torque, and middle arm 4 is driven to turn counterclockwise
It is dynamic.
When the energization of the second driver 22 rotates counterclockwise, driving force allows shaft coupling to pass to the second roll by the
234, then the 4th rope body wound clockwise on the second roll 234 is driven, by third directive wheel 2353,72 and of coiling lantern ring
Middle arm roll 81, bearing of the final force effect in the 4th rope body on middle arm 4, rotation axis is the axis of middle arm roll 81
Line, the position of power are middle arm 4 close to the lower part of 3 one end of large arm, therefore generate a torque, and middle arm 4 is driven to rotate clockwise.
Wherein, the first transmission rope group and the second transmission rope group can be used steel wire rope and be made, and the first driver 21 and second drives
Dynamic device 22 includes but not limited to servo motor and stepper motor, and the first driving joint 7 and the second driving joint 8 are drawn using steel wire rope
Power is driven, and effectively reduces the volume of each component in mechanism, compared with Wire Friction Driving, mechanism is compacter, Er Qieke
Steel rope abrasion is reduced, slipping phenomenon caused by avoiding Wire Friction Driving is driven using lineoutofservice signal pull, by suitably opening
Tightly, it can effectively avoid return difference problem.
Forearm 5 in the present embodiment is connect by the first straight joint 91 of driving with middle arm 4 close to one end of middle arm 4, and first is straight
It includes that the forearm supporting rack 912 being fixed on middle arm 4, the forearm link 913 being fixed on forearm 5 and first are straight to drive joint 91
Motor 911 is driven, output shaft and the forearm supporting rack 912 of the first direct driving motor 911 are fixedly linked, the machine of the first direct driving motor 911
Body is fixed on forearm link 913.The other end of forearm 5 is equipped with the second straight drive joint 92, and the second straight joint 92 of driving includes
The crawl supporting rack 922 being fixed on forearm 5 captures and installs the second direct driving motor 921, the second direct driving motor on supporting rack 922
The chassis of 921 output shaft and grasping mechanism 6 is fixed.
When the first direct driving motor 911 rotates, forearm 5 will be rotated along the output shaft of the first direct driving motor 911, to
Grasping mechanism 6 is driven to rotate, when the second direct driving motor 921 rotates, grasping mechanism 6 will be along the second direct driving motor 921
Output shaft rotates.
The universal fortune of grasping mechanism 6 is realized by the transmission mechanism of waist joint component 2, large arm 3, middle arm 4 and forearm 5
Dynamic, grasping mechanism 6 moves flexible and changeable.
It should be appreciated that specific embodiment described above is only used for explaining the present invention, it is not intended to limit the present invention.By
The obvious changes or variations that the spirit of the present invention is extended out are still in the protection scope of this invention.
Claims (6)
1. a kind of manipulator based on rope body pulling force transmission, including pedestal (1), the waist that is installed in rotation on pedestal (1) close
It saves component (2) and the hinged large arm (3) of waist joint component (2) and the hinged middle arm (4) of large arm (3) and middle arm (4) is hinged
Forearm (5) and the grasping mechanism (6) for being mounted on forearm (5) outer end, it is characterised in that：Driving waist is equipped in the pedestal (1)
The driving device (11) of joint assembly (2) rotation, the waist joint component (2) includes the waist driven by the driving device (11)
Joint, the motor bin being fixed on above waist joint and the roll mounting bracket (23) being fixed on above motor bin, the large arm (3)
Hinged by the first driving joint (7) and the roll mounting bracket (23), the middle arm (4) passes through the second driving joint (8)
Hinged with the large arm (3), roll mounting bracket (23) inner disc is wound with the first transmission rope group and the second transmission rope group, described
The first driver (21) and the second driver (22) are equipped in motor bin, first driver (21) is driven by described first
Rope group drives the first driving joint (7) to rotate, and first driving joint (7) drives large arm (3) rotation, and described second drives
Dynamic device (22) drives second driving joint (8) to rotate by the second transmission rope group, the second driving joint (8) band
Dynamic middle arm (4) rotation, be equipped in the roll mounting bracket (23) the first roll (232), the second roll (234) and
Guide wheel group (235), the master that first roll (232) passes through first shaft coupling (231) and first driver (21)
Axis is rigidly connected, and second roll (234) is rigid by second shaft coupling (233) and the main shaft of second driver (22)
Property connection, the guide wheel group (235) be fixed in roll mounting bracket (23) and positioned at the first roll (232) and second around
Between spool (234), first driving joint (7) includes being fixed on large arm roll (71) in large arm (3) and rotatably
Ground is mounted on the coiling lantern ring (72) on large arm roll (71), and second driving joint (8) includes being fixed on middle arm (4)
Middle arm roll (81), the first transmission rope group, the first transmission rope group warp are set on first roll (232)
The guide wheel group (235) is crossed around being connected on the large arm roll (71), described is arranged on second roll (234)
Two transmission rope groups, the second transmission rope group is by the guide wheel group (235) and coiling lantern ring (72) around being connected to the middle arm
On roll (81), the guide wheel group (235) includes the first directive wheel (2351), the second directive wheel (2352), third guiding
(2353) and the 4th directive wheel (2354) are taken turns, the first transmission rope group includes the first rope body and the second rope body, and described second passes
Running rope group includes third rope body and the 4th rope body, and one end of the first rope body is fixed on the lower section of the first roll (232),
The side of first roll (232) is counterclockwise around 1~5 circle, by the 4th directive wheel (2354) around to large arm roll (71),
The side of large arm roll (71) finally will be fixed on large arm coiling counterclockwise around 1~5 circle after the other end tensioning of the first rope body
Axis (71) is fixed on the upper of the first roll (232) close to one end of the 4th directive wheel (2354), one end of the second rope body
Side, counterclockwise around 1~5 circle on the first roll (232), by the first directive wheel (2351) around to large arm roll (71),
In the other side of large arm roll (71) counterclockwise around 1~5 circle, finally large arm will be fixed on after the other end tensioning of the second rope body
Roll (71) is close to one end of the first directive wheel (2351).
2. the manipulator according to claim 1 based on rope body pulling force transmission, it is characterised in that：The waist joint is by axis
It holds (12) to be installed in rotation on above the pedestal (1), the driving device (11) is deflection cylinder, servo motor or stepping
Motor.
3. the manipulator according to claim 2 based on rope body pulling force transmission, it is characterised in that：The one of the third rope body
End is fixed on the lower section of the second roll (234), clockwise about 1~5 circle on the second roll (234), then passes through second
Directive wheel (2352) is around on coiling lantern ring (72), in the side of coiling lantern ring (72) clockwise about 1 circle, further around to middle arm coiling
The side of axis (81) and clockwise about 1~5 circle finally will be fixed on middle arm (4) close to institute after the tensioning of the other end of third rope body
The top of large arm (3) one end is stated, one end of the 4th rope body is fixed on the top of the second roll (234), in the second coiling
Clockwise about 1~5 circle on axis (234), then pass through third directive wheel (2353) around on coiling lantern ring (72), in coiling lantern ring
(72) the other side clockwise about 1 circle, further around to the other side of middle arm roll (81) clockwise about 1~5 circle, finally by the 4th
It is fixed on lower part of the middle arm (4) close to the large arm (3) one end after the other end tensioning of rope body.
4. the manipulator according to claim 3 based on rope body pulling force transmission, it is characterised in that：The forearm (5) is close
One end of middle arm (4) is connect by the first straight drive joint (91) with the middle arm (4), and described first straight drive joint (91) include solid
The forearm supporting rack (912) being scheduled on the middle arm (4), the forearm link (913) and first being fixed on the forearm (5)
Direct driving motor (911), the output shaft of first direct driving motor (911) is fixedly linked with the forearm supporting rack (912), described
The body of first direct driving motor (911) is fixed on forearm link (913).
5. the manipulator according to claim 4 based on rope body pulling force transmission, it is characterised in that：The forearm (5) it is another
Outer one end is equipped with the second straight drive joint (92), and second straight drive joint (92) include the crawl supporting rack being fixed on forearm (5)
(922), the second direct driving motor (921), the output of second direct driving motor (921) are installed on the crawl supporting rack (922)
Axis and the chassis of grasping mechanism (6) are fixed.
6. the manipulator according to claim 5 based on rope body pulling force transmission, it is characterised in that：First driver
(21) and the second driver (22) is servo motor or stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610292470.9A CN105773598B (en) | 2016-05-05 | 2016-05-05 | A kind of manipulator based on rope body pulling force transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610292470.9A CN105773598B (en) | 2016-05-05 | 2016-05-05 | A kind of manipulator based on rope body pulling force transmission |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105773598A CN105773598A (en) | 2016-07-20 |
| CN105773598B true CN105773598B (en) | 2018-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610292470.9A Expired - Fee Related CN105773598B (en) | 2016-05-05 | 2016-05-05 | A kind of manipulator based on rope body pulling force transmission |
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| CN106476007A (en) * | 2016-12-21 | 2017-03-08 | 北京灵铱科技有限公司 | A kind of wire cylinders kind of drive for mechanical arm |
| CN108927795A (en) * | 2017-05-22 | 2018-12-04 | 沈阳新松机器人自动化股份有限公司 | A kind of flexible driving mechanism arm and control system |
| CN107671851A (en) * | 2017-09-20 | 2018-02-09 | 柳州欧卡机器人有限公司 | A kind of device for adjusting posture of industrial robot |
| CN111015644B (en) * | 2019-12-24 | 2022-10-25 | 中国科学院沈阳自动化研究所 | Rope drives formula arm based on coupling linkage |
| CN111300394B (en) * | 2020-04-09 | 2021-03-23 | 浙江大学 | Automatic tensioning and controllable-tensioning-force line transmission device |
| CN111959313B (en) * | 2020-07-20 | 2021-09-28 | 杭州电子科技大学 | Mobile charging pile robot and charging method thereof |
| CN111927881A (en) * | 2020-08-17 | 2020-11-13 | 曾镇涛 | Mechanical device based on rope body tension transmission |
| CN112057025B (en) * | 2020-09-02 | 2021-08-17 | 武汉轻工大学 | Wiping mechanism |
| CN112171716A (en) * | 2020-09-24 | 2021-01-05 | 北京卓誉科技有限公司 | Multi-shaft heavy-load long-arm unfolding mechanical arm capable of being folded in at limit and unfolded quickly |
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| CN101733743A (en) * | 2010-01-02 | 2010-06-16 | 华南理工大学 | Drawing wire type serial mechanical arm |
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