CN111015644B - Rope drives formula arm based on coupling linkage - Google Patents
Rope drives formula arm based on coupling linkage Download PDFInfo
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- CN111015644B CN111015644B CN201911342120.9A CN201911342120A CN111015644B CN 111015644 B CN111015644 B CN 111015644B CN 201911342120 A CN201911342120 A CN 201911342120A CN 111015644 B CN111015644 B CN 111015644B
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- rope
- guide wheel
- driving
- assembly
- mechanical arm
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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
Abstract
The invention relates to the technical field of mechanical arms, in particular to a rope-driven mechanical arm based on coupling linkage. The method comprises the following steps: the mechanical arm comprises a base, a mechanical arm body, a transmission rope assembly I, a transmission rope assembly II and an input rope driving assembly, wherein the mechanical arm body is arranged on the base and can rotate relative to the base; the transmission rope assembly I and the transmission rope assembly II are arranged on the mechanical arm body and are respectively used for driving the mechanical arm body to rotate forwards and backwards; the input rope driving assembly is arranged on the base and used for controlling the actions of the transmission rope assembly I and the transmission rope assembly II. The units of the invention transmit motion in a coupling linkage manner, so that the number of driving sources is greatly reduced, the control is simple, the operation is convenient, and the size of the rope-driven mechanical arm base is reduced.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a rope-driven mechanical arm based on coupling linkage.
Background
The existing rope-driven mechanical arm needs two to three rope drives for each joint unit on the basis of adopting discrete units, and if n units exist, n driving ropes, namely n driving motors are needed. In order to simplify the mechanism, the same motor is used for controlling the units with coupling relation, so that the number of the motors is reduced, a sectional driving mode is also adopted, the integral arm is divided into a plurality of sections, each section is respectively controlled by adopting rope driving, and the sections are controlled by adopting a coupling linkage mode, so that although the number of the driving units is reduced, a plurality of driving sources are still needed for controlling. The development of the rope-driven mechanical arm is hindered to a certain extent by the excessive number of the driving units and the large size of the base.
Disclosure of Invention
Aiming at the problems of the rope-driven mechanical arm, the invention aims to provide a rope-driven mechanical arm in coupling linkage.
In order to achieve the purpose, the invention adopts some technical schemes:
a rope driven robotic arm based on coupled linkage, comprising: the mechanical arm comprises a base, a mechanical arm body, a transmission rope assembly I, a transmission rope assembly II and an input rope driving assembly, wherein the mechanical arm body is arranged on the base and can rotate relative to the base; the transmission rope assembly I and the transmission rope assembly II are arranged on the mechanical arm body and are respectively used for driving the mechanical arm body to rotate forwards and backwards; the input rope driving assembly is arranged on the base and used for controlling the actions of the transmission rope assembly I and the transmission rope assembly II.
The mechanical arm body comprises a plurality of stages of unit joints which are sequentially hinged.
Driving rope subassembly I and driving rope subassembly II all include wiring wheelset I, wiring wheelset II and multistage driving rope, wherein wiring wheelset I and wiring wheelset II from lower supreme interval in proper order set up in alternately each joint department of arm body to connect through a section driving rope between adjacent wiring wheelset I and the wiring wheelset II.
The rope winding wheel set I comprises an outer rope guide wheel I and an inner rope guide wheel I which are coaxially mounted, and the outer rope guide wheel I and the inner rope guide wheel I can rotate relatively;
the outer rope guide wheel I is fixedly connected with the base or the unit joint of the previous stage, and is connected with the transmission rope of the next stage;
the inner side rope guide wheel I is connected with a unit joint of the next stage, and the inner side rope guide wheel I is connected with a transmission rope of the previous stage.
A rope guide wheel shaft I is arranged on one side of the outer rope guide wheel I, and the rope guide wheel shaft I is fixedly connected with the base or the unit joint of the previous stage; the inner side rope guide wheel I is rotatably sleeved on the rope guide wheel shaft I and is positioned between the outer side rope guide wheel I and the unit joint.
The rope winding wheel set II comprises an outer side rope guide wheel II and an inner side rope guide wheel II which are coaxially mounted;
a rope guide wheel shaft II is arranged on one side of the inner side rope guide wheel II and fixedly connected with the unit joint of the previous stage, and an arc-shaped groove is formed in the wheel hub of the inner side rope guide wheel II along the circumferential direction;
one side of the outer side rope guide wheel II is provided with a connecting block which can slide in an arc-shaped groove on the inner side rope guide wheel II, and the connecting block is connected with the unit joint of the next stage.
The outer side rope guide wheel II is connected with the outer side rope guide wheel I at the upper stage through a transmission rope; and the inner side rope guide wheel II is connected with the inner side rope guide wheel I of the next stage through a transmission rope.
The input rope driving assembly comprises an input shaft rope winding wheel, an input rope I and an input rope II, wherein the input shaft rope winding wheel is rotatably arranged on the base, one ends of the input rope I and the input rope II are respectively wound on the input shaft rope winding wheel, and the winding directions are opposite; the other ends of the input rope I and the input rope II are respectively wound on the rope winding wheel sets I of the transmission rope assembly I and the transmission rope assembly II, and the winding directions are opposite.
The input shaft winding wheel is connected with a rotary driving motor.
The driving rope assembly I and the driving rope assembly II are arranged on two sides of the mechanical arm body respectively, and the winding directions of the driving ropes are opposite.
The invention has the advantages and beneficial effects that: the mechanical arm is driven by a single motor, the units transmit motion in a coupling linkage mode, the number of driving sources is greatly reduced, the control is simple, the operation is convenient, the size of the rope-driven mechanical arm base is reduced, and the rope-driven mechanical arm has larger use space compared with other rope-driven mechanical arms.
Drawings
FIG. 1 is a schematic structural diagram of a rope-driven robotic arm based on coupling linkage according to the present invention;
fig. 2 is a schematic structural view of a rope winding wheel set I in the invention;
fig. 3 is a schematic view of the installation of the outer deflector sheave i of the present invention;
fig. 4 is a schematic view of the installation of the inner rope guide pulley i according to the present invention;
fig. 5 is a schematic structural view of a winding pulley wheel set II of the invention.
In the figure: 1 is input shaft wire winding wheel, 2 is input rope I, 3 is input rope II, 4 is the base, 5 is wire winding wheelset I, 51 is outside wire guide wheel I, 52 is inboard wire guide wheel I, 53 is wire guide wheel axle I, 6 is the driving rope, 7 is one-level unit joint, 8 is wire winding wheelset II, 81 is outside wire guide wheel II, 82 is inboard wire guide wheel II, 83 is wire guide wheel axle II, 84 is the connecting block, 85 is the arc wall, 9 is second grade unit joint, 10 is tertiary unit joint.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the present invention provides a rope-driven robot arm based on coupling linkage, which is characterized in that the rope-driven robot arm comprises: the mechanical arm comprises a base 4, a mechanical arm body, a transmission rope assembly I, a transmission rope assembly II and an input rope driving assembly, wherein the mechanical arm body is arranged on the base 4 and can rotate relative to the base 4; the transmission rope assembly I and the transmission rope assembly II are arranged on the mechanical arm body and are respectively used for driving the mechanical arm body to rotate forwards and backwards; input rope drive assembly sets up on base 4 for control driving rope subassembly I and the action of driving rope subassembly II.
The mechanical arm body comprises a plurality of levels of unit joints which are sequentially hinged, namely a first level unit joint 7, a second level unit joint 9, a third level unit joint 10 … … to an n level unit joint.
Driving rope subassembly I and driving rope subassembly II all include wiring wheelset I5, wiring wheelset II 8 and multistage driving rope 6, and wherein wiring wheelset I5 and wiring wheelset II 8 set up in each joint department of arm body by supreme interval in proper order to connect through one section driving rope 6 between adjacent wiring wheelset I5 and the wiring wheelset II 8.
As shown in fig. 2 to 4, the rope winding wheel set i 5 comprises an outer rope guide wheel i 51 and an inner rope guide wheel i 52 which are coaxially arranged, and the outer rope guide wheel i 51 and the inner rope guide wheel i 52 can rotate relatively; the outer rope guide wheel I51 is fixedly connected with the base 4 or a unit joint of the previous stage, and the outer rope guide wheel I51 is connected with the transmission rope 6 of the next stage; the inner rope guide i 52 is articulated with the unit of the next stage, and the inner rope guide i 52 is connected with the driving rope 6 of the previous stage.
As shown in fig. 3, one side of the outer rope guide wheel I51 is provided with a rope guide wheel shaft I53, and the rope guide wheel shaft I53 is fixedly connected with the base 4 or the unit joint of the previous stage; the inner rope guide I52 is rotatably sleeved on the rope guide shaft I53 and is positioned between the outer rope guide I51 and the unit joint.
As shown in fig. 5, the rope winding pulley group ii 8 includes an outer rope guide pulley ii 81 and an inner rope guide pulley ii 82 which are coaxially installed; a rope guide wheel shaft II 83 is arranged on one side of the inner side rope guide wheel II 82, the rope guide wheel shaft II 83 is fixedly connected with the unit joint of the upper stage, and an arc-shaped groove 85 is formed in the circumferential direction on the hub of the inner side rope guide wheel II 82;
one side of the outer side rope guide II 81 is provided with a connecting block 84 which can slide in an arc-shaped groove 85 on the inner side rope guide II 82, and the connecting block 84 is connected with a unit joint of the next stage. The outer side rope guide wheel II 81 is connected with the outer side rope guide wheel I51 at the upper stage through a transmission rope 6; the inner rope guide II 82 is connected with the inner rope guide I52 of the next stage through a transmission rope 6.
As shown in fig. 1, the input rope driving assembly includes an input shaft rope winding wheel 1, an input rope i 2 and an input rope ii 3, wherein the input shaft rope winding wheel 1 is rotatably disposed on a base 4, and the input shaft rope winding wheel 1 is connected with a rotary driving motor. One ends of the input rope I2 and the input rope II 3 are respectively wound on the input shaft rope winding wheel 1, and the winding directions are opposite; the other end of input rope I2 and input rope II 3 twines respectively on the wiring wheelset I5 of driving rope subassembly I and driving rope subassembly II to the winding opposite direction. Specifically, the other ends of the input ropes I2 and II 3 are wound on an outer rope guide wheel I51 in a rope winding wheel set I5.
Transmission rope subassembly I and transmission rope subassembly II set up respectively in the both sides of arm body to the winding opposite direction of transmission rope 6 realizes transmission rope subassembly I and the swing opposite direction of II control arm bodies of transmission rope subassembly. The driving rope component I and the driving rope component II can be arranged in the center of the mechanical arm structure, or in other arrangement modes.
As shown in fig. 1-3, in the embodiment of the invention, a rope winding wheel set i 5 is arranged between the primary unit joint 7 and the base 4, and an outer rope guide wheel i 51 is fixedly arranged on the base 4; the inner rope guide wheel I52 is fixedly arranged on the primary unit joint 7, and the inner rope guide wheel 52 is connected with the input rope I2 or the input rope II 3.
As shown in fig. 1 and 5, the rope winding wheel set ii 8 is arranged between the primary unit joint 7 and the secondary unit joint 9, the outer rope guide wheel set ii 81 is connected with the secondary unit joint 9 through a connecting block 84, and the outer rope guide wheel set ii 81 is connected with the outer rope guide wheel set i 51 between the primary unit joint 7 and the base 4 through the transmission rope 6; the inner side rope guide wheel II 82 is fixedly arranged on the primary unit joint 7 through a rope guide wheel shaft II 83 and is connected with the inner side rope guide wheel I52 between the secondary unit joint 9 and the tertiary unit joint 10 through a transmission rope 6, and the like.
The driving ropes and the rope guide wheels on the two sides of the mechanical arm are respectively driven by the rotary driving motor to respectively control the front and back (or forward and reverse) swinging of the mechanical arm. The joints of the units adopt a coupling linkage mode and share one power input source. According to the principle of coupling motion between the joints of the coupling units, in order to ensure the coupling motion, the connection mode of the transmission rope and the rope guide wheel is the same in every other unit joint structure, but the number of the unit joints of the mechanical arm is not limited to be even.
In the embodiment of the invention, the transmission rope adopts an 8-shaped transmission rope structure.
The working principle of the invention is as follows:
the input shaft is rotated around the rope pulley 1, and then twines input rope I2 or input rope II 3, and input rope I2 or input rope II 3 drive inboard rope guide wheel I52 motion, because inboard rope guide wheel I52 links to each other with one-level unit joint 7, so drive one-level unit joint 7 and rotate around base 4, accomplish initial joint motion. The outer side rope guide wheel I51 is connected with the base 4 and is kept still, and then the primary transmission rope 6 wound on the outer side rope guide wheel I51 moves around the outer side rope guide wheel I51, so that the winding effect is achieved. Under the condition that the primary unit joint 7 moves, the primary transmission rope 6 is wound on the outer rope guide wheel I51, the other end of the primary transmission rope is connected with the outer rope guide wheel II 81, and the outer rope guide wheel II 81 is fixedly connected with the secondary unit joint 10, so that the secondary unit joint 10 is driven to rotate around the primary unit joint 7. Because the adjacent unit joints adopt the articulated form, the rotation of the next unit joint relative to the previous unit joint is completed, and the like.
The rope-driven mechanical arm based on coupling linkage disclosed by the invention realizes the movement of the arm through the discretization unit of the rigid part, is simple and reliable and convenient to control, and meanwhile, the number of driving motors is greatly reduced by single motor driving, the mechanical failure rate is reduced, and the cost is reduced.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a rope drives formula arm based on coupling linkage which characterized in that includes:
a base (4);
the mechanical arm body is arranged on the base (4) and can rotate relative to the base (4);
the transmission rope assembly I and the transmission rope assembly II are arranged on the mechanical arm body and are respectively used for driving the mechanical arm body to rotate forwards and backwards;
the input rope driving assembly is arranged on the base (4) and used for controlling the actions of the transmission rope assembly I and the transmission rope assembly II;
the mechanical arm body comprises a plurality of stages of unit joints which are sequentially hinged;
the driving rope assembly I and the driving rope assembly II respectively comprise a rope winding wheel set I (5), a rope winding wheel set II (8) and a plurality of sections of driving ropes (6), wherein the rope winding wheel set I (5) and the rope winding wheel set II (8) are sequentially and alternately arranged at each joint of the mechanical arm body from bottom to top at intervals, and the adjacent rope winding wheel sets I (5) and the rope winding wheel set II (8) are connected through one section of driving rope (6);
the rope winding wheel set I (5) comprises an outer rope guide wheel I (51) and an inner rope guide wheel I (52) which are coaxially mounted, and the outer rope guide wheel I (51) and the inner rope guide wheel I (52) can rotate relatively;
the outer rope guide wheel I (51) is fixedly connected with the base (4) or a unit joint of the previous stage, and the outer rope guide wheel I (51) is connected with a transmission rope (6) of the next stage;
the inner side rope guide wheel I (52) is connected with a unit joint of the next stage, and the inner side rope guide wheel I (52) is connected with a transmission rope (6) of the previous stage;
the rope winding wheel set II (8) comprises an outer side rope guide wheel set II (81) and an inner side rope guide wheel set II (82) which are coaxially arranged;
a rope guide wheel shaft II (83) is arranged on one side of the inner side rope guide wheel II (82), the rope guide wheel shaft II (83) is fixedly connected with the unit joint of the previous stage, and an arc-shaped groove (85) is formed in the circumferential direction of a hub of the inner side rope guide wheel II (82);
one side of the outer side rope guide wheel II (81) is provided with a connecting block (84) capable of sliding in an arc-shaped groove (85) on the inner side rope guide wheel II (82), and the connecting block (84) is connected with the unit joint of the next stage;
the outer side rope guide wheel II (81) is connected with the outer side rope guide wheel I (51) at the upper stage through a transmission rope (6); the inner side rope guide wheel II (82) is connected with the inner side rope guide wheel I (52) of the next stage through a transmission rope (6);
the input rope driving assembly comprises an input shaft rope winding wheel (1), an input rope I (2) and an input rope II (3), wherein the input shaft rope winding wheel (1) is rotatably arranged on the base (4), one ends of the input rope I (2) and the input rope II (3) are respectively wound on the input shaft rope winding wheel (1), and the winding directions are opposite; the other ends of the input rope I (2) and the input rope II (3) are respectively wound on the rope winding wheel sets I (5) of the transmission rope assembly I and the transmission rope assembly II, and the winding directions are opposite.
2. The rope-driven mechanical arm based on coupling linkage as claimed in claim 1, wherein a rope guide wheel shaft I (53) is arranged on one side of the outer rope guide wheel I (51), and the rope guide wheel shaft I (53) is fixedly connected with the base (4) or a unit joint of a previous stage; the inner rope guide wheel I (52) is rotatably sleeved on the rope guide wheel shaft I (53) and is positioned between the outer rope guide wheel I (51) and the unit joint.
3. The rope drive type mechanical arm based on coupling linkage according to claim 1, wherein the input shaft winding wheel (1) is connected with a rotary driving motor.
4. The rope-driven mechanical arm based on coupling linkage as claimed in claim 1, wherein the driving rope assembly I and the driving rope assembly II are respectively arranged on two sides of the mechanical arm body, and the winding directions of the driving ropes (6) are opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911342120.9A CN111015644B (en) | 2019-12-24 | 2019-12-24 | Rope drives formula arm based on coupling linkage |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911342120.9A CN111015644B (en) | 2019-12-24 | 2019-12-24 | Rope drives formula arm based on coupling linkage |
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| CN111015644A CN111015644A (en) | 2020-04-17 |
| CN111015644B true CN111015644B (en) | 2022-10-25 |
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| CN114347007A (en) * | 2022-02-22 | 2022-04-15 | 青岛科技大学 | Driving device for rope-driven snake-shaped mechanical arm |
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