CN113043259B - Rope transmission mechanism and rope transmission mechanism of manipulator - Google Patents
Rope transmission mechanism and rope transmission mechanism of manipulator Download PDFInfo
- Publication number
- CN113043259B CN113043259B CN201911371904.4A CN201911371904A CN113043259B CN 113043259 B CN113043259 B CN 113043259B CN 201911371904 A CN201911371904 A CN 201911371904A CN 113043259 B CN113043259 B CN 113043259B
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- wire rope
- steel wire
- driven wheel
- rope
- driving wheel
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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 provides a rope transmission mechanism, comprising: wire rope, connecting device and overspeed device tensioner, wire rope along certain direction in proper order the wraparound connect at the action wheel and from the driving wheel on and form a steel wire winding, the action wheel passes through wire rope pulling and rotates from the driving wheel, connecting device includes: the steel wire rope tensioning device comprises a driving wheel connecting device and a driven wheel connecting device, wherein the driving wheel connecting device is arranged on a driving wheel and connects the driving wheel with a steel wire rope, the driven wheel connecting device is arranged on a driven wheel and connects the driven wheel with the steel wire rope, the tensioning device is arranged between the driving wheel and the driven wheel and is connected with the steel wire rope, and the tensioning device is used for tensioning the steel wire rope. The single-rope transmission in the embodiment of the invention improves the space utilization rate and increases the selected diameter of the rope on the premise of narrow installation space, thereby increasing the transmission rigidity. The continuous tensioning mechanism is convenient to adjust, effectively synchronously tensions the upper section and the lower section of the steel wire rope, and ensures the coordination of movement and the stability of force transmission.
Description
Technical Field
The invention relates to the technical field of joint transmission mechanisms of multi-joint manipulators, in particular to a rope transmission mechanism and a rope transmission mechanism of a manipulator.
Background
The humanoid robots with multiple degrees of freedom are all provided with arms with bionic joints and dexterous hands, and the bionic dexterous hands have relatively sufficient space design motion mechanisms unlike industrial manipulators. Due to the limitation of the bionic hand shape and the space structure, the current bionic dexterous hand can hardly realize the accurate control of fingers and has enough gripping force.
The existing similar scheme has the following problems: 1. the number of the steel wire ropes is usually two, and installation and maintenance are complex; 2. the rope end fixing structure and the tensioning mechanism are complex, and the size of the rope end locking part is small due to space limitation, and only a small-diameter steel wire rope can be adopted, so that the transmission torque and the structural rigidity are influenced; 3. in the prior art, due to the fact that double steel wire ropes are adopted, the steel wire ropes can be staggered in transmission, and therefore a rope wheel shaft can be subjected to variable load in reversing transmission, and the service life of a bearing is affected.
Therefore, a manipulator transmission device with large transmission torque, convenient installation, simple fixing method and good movement coordination is urgently needed to solve the problems of narrow space of finger joints of the manipulator and difficult design of a transmission mechanism.
Disclosure of Invention
The invention mainly aims to provide a rope transmission mechanism and a rope transmission mechanism of a manipulator, and aims to solve the problems of complex transmission structure, poor transmission rigidity, poor movement coordination, unstable torque transmission and difficult installation and maintenance in the prior art.
In order to achieve the above object, an embodiment of the present invention provides a rope transmission mechanism, including: the steel wire rope is sequentially wound on a driving wheel and a driven wheel along a clockwise or anticlockwise direction to form a steel wire ring, the driving wheel pulls the driven wheel to rotate through the steel wire rope, and the connecting device comprises: the tension device is arranged between the driving wheel and the driven wheel and connected with the steel wire rope, and the tension device is used for tensioning the steel wire rope.
The rope transmission mechanism adopts a winding mode of a single steel wire rope, the driving wheel is fixedly buckled with the steel wire rope, the driven wheel is locked with the tail end of the steel wire rope, and the tensioning mechanism is continuously tensioned. The whole set of transmission mechanism has large transmission torque, convenient installation, simple fixing method and good movement coordination. The problems that the operation space is narrow and small and the design of a transmission mechanism is difficult are well solved.
Preferably, the connecting means comprises: the number of the driven wheel connecting devices is two, the two driven wheel connecting devices are arranged on the driven wheels, connecting points of the steel wire ropes and the driven wheel connecting devices are arranged on one sides of the driven wheels, which are far away from the driving wheels, and two ends of the steel wire ropes are fixed on the driven wheels through the driven wheel connecting devices. Through setting up from driving wheel connecting device, set up two fixed connection points between wire rope and follow driving wheel to high-efficient, accurate transmission turning force.
Preferably, the driven wheel connecting means comprises: the wire rope fixing device comprises a screw rod, a nut and a rubber gasket, wherein one end of the screw rod is fixed on a driven wheel, a through hole is formed in the other end of the screw rod, the nut is in threaded connection with the screw rod, the rubber gasket is sleeved at one end, close to the through hole, of the screw rod, the end portion of the wire rope penetrates through a wire walking hole of the driven wheel and penetrates through the through hole, and the nut rotates to enable the rubber gasket to tightly press the wire rope so that the wire rope is locked in the through hole. The end part of the steel wire rope is fixedly connected with the driven wheel by the driven wheel connecting device, so that the steel wire rope forms a steel wire ring, the transmission stability of the steel wire rope is ensured, the structure is simplified, and the stability of the structure and the stability of force transmission are ensured.
Preferably, the driven wheel connecting means comprises: holding screw and copper post, holding screw and copper post are established in the screw of follow driving wheel, the copper post with holding screw butt, wire rope's tip passes from the walking hole of driving wheel and the screw, the copper post is aimed at wire rope, the holding screw is rotatory right the copper post produces the extrusion messenger wire rope's tip is locked. The end part of the steel wire rope is fixedly connected with the driven wheel by the driven wheel connecting device, so that the steel wire rope forms a steel wire ring, the transmission stability of the steel wire rope is ensured, the structure is simplified, and the stability of the structure and the stability of force transmission are ensured.
Preferably, the driving wheel connecting device comprises: and the steel wire rope penetrates through a connecting hole in the center of the aluminum clip and is fixedly connected with the aluminum clip. The aluminum clip is connected with the middle part of the steel wire rope in advance and is fixedly connected with the driving wheel in a hanging and buckling mode, so that the connection stability between the steel wire rope and the driving wheel is ensured. And the structure is simple, the production and the maintenance are convenient, and the popularization and the application are convenient.
Preferably, a bonding layer is further arranged between the aluminum clip and the steel wire rope. The adhesive ensures the fixed connection between the aluminum clip and the steel wire rope, and further ensures the stability of the structure and the accuracy of the rotational force transmission.
Preferably, the tensioning device is provided within the traveler, the tensioning device comprising: the steel wire rope tensioning device comprises a threaded rod, a rotating nut, an adjusting slider and a connecting rod assembly, wherein the rotating nut is in threaded connection with the threaded rod, the adjusting slider is arranged at the end of the threaded rod, the adjusting slider is arranged between the rotating nut and the connecting rod assembly, the outer wall of the connecting rod assembly is in contact with the steel wire ring, and the rotating nut rotationally pushes the adjusting slider to slide and enable the width of the connecting rod assembly to be increased and pushes the steel wire ring outwards to tension the steel wire rope. The tensioning device in this embodiment is a continuous tensioning. The device simple structure is convenient for adjust, and effectual upper and lower section to wire rope carries out synchronous tensioning, has guaranteed the coordination of motion and the stability of power transmission.
Preferably, the connecting rod assembly includes: left connecting rod and the right connecting rod that the symmetry set up, the action wheel with from being equipped with the connecting plate between the driving wheel, left side connecting rod includes: one end with connecting plate articulated first connecting rod, and one end with slider articulated second connecting rod, the expansion end rotatable coupling of first connecting rod and second connecting rod.
Preferably, the first connecting rod and the second connecting rod are connected through a ball bearing. Forgiveness first connecting rod and second connecting rod through ball bearing, improved the efficiency that link assembly rotated and deformed.
The rope transmission mechanism is arranged on a knuckle of the manipulator and is connected with a driving wheel and a driven wheel of the knuckle, and the driving wheel pulls the driven wheel to rotate through a steel wire rope so as to drive the knuckle to bend or unbend. The rope transmission mechanism is used for knuckle bending transmission of a manipulator, improves the space utilization rate on the premise of narrow installation space, increases the selection diameter of a rope, and increases the transmission rigidity.
In the embodiment of the invention, the structure has the following characteristics: the transmission form is single rope transmission, and both ends of the rope are fixedly connected with the driven wheel. The single-rope transmission mode improves the space utilization rate and increases the selection diameter of the rope on the premise of narrow installation space, thereby increasing the transmission rigidity. The rope end fixing method ensures firm fixation and is convenient for later maintenance and replacement of the steel wire rope. The continuous tensioning mechanism is convenient to adjust, effectively synchronously tensions the upper section and the lower section of the steel wire rope, and ensures the coordination of movement and the stability of force transmission.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic diagram of a robot rope drive mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of a robot's cord drive mechanism in accordance with an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a connecting device of a rope transmission mechanism of a robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the driven wheel connection of the robot's rope drive in accordance with one embodiment of the present invention;
fig. 5 is a schematic structural view of a driving wheel connecting device of a rope transmission mechanism of a robot in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a link assembly of a rope transmission mechanism of a robot according to an embodiment of the present invention.
The reference numbers illustrate:
1-steel wire rope, 2-connecting device, 3-tensioning device, 4-driving wheel, 5-driven wheel, 6-driven wheel connecting device, 7-driving wheel connecting device, 8-set screw, 9-copper column, 10-screw hole, 11-wiring hole, 12-aluminum clip, 13-connecting hole, 14-fixing hole, 15-steel wire ring, 16-threaded rod, 17-rotating nut, 18-adjusting slide block, 19-connecting rod component, 20-left connecting rod, 21-right connecting rod, 22-connecting plate, 23-first connecting rod, 24-second connecting rod and 25-ball bearing.
The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The invention mainly aims to provide a rope transmission mechanism of a manipulator, which aims to solve the problems of complex transmission structure, poor transmission rigidity, poor motion coordination, unstable torque transmission and difficult installation and maintenance in the prior art.
Referring to fig. 1 and 2, a rope transmission mechanism of a manipulator according to an embodiment of the present invention includes a steel wire rope 1, a connecting device 2, and a tensioning device 3. The connecting device 2 is used for connecting the steel wire rope with the driving wheel and the driven wheel, and the tensioning device 3 is used for tensioning the steel wire rope 1. The steel wire rope 1 is sequentially connected with the driving wheel 4 and the driven wheel 5 and is wound on the driving wheel 4 and the driven wheel 5 in a parallel connection mode. The connecting device 2 is arranged on the driving wheel 4 and the driven wheel 5 and is connected with the steel wire rope 1. The rope transmission mechanism is arranged on a finger joint of the manipulator and is used for adjusting the motion of the finger joint. The rope transmission mechanism is connected with a driving wheel and a driven wheel of the knuckle, and the driving wheel 4 pulls the driven wheel 5 to rotate through the steel wire rope 1 so as to drive the knuckle to bend or unbend.
Specifically, as shown in fig. 3, the connection device 2 includes: a driven wheel connecting device 6 and a driving wheel connecting device 7. Wherein, the driven wheel connecting device 6 is used for fixing the two ends of the steel wire rope on the driven wheel. The number of the driven wheel connecting devices 6 is two, and the two driven wheel connecting devices 6 are arranged on the driven wheel 5 and are fixedly connected with the driven wheel 5. The connecting point of the steel wire rope 1 and the driven wheel connecting device 5 is arranged on one side of the driven wheel 5 far away from the driving wheel 4. Therefore, when the driving wheel 4 rotates, the driven wheel 5 can be quickly pulled to rotate along with the driving wheel. The motion angle of the finger joint is generally 0-90 degrees, when the connecting point of the steel wire rope 1 and the driven wheel 5 is arranged on the right side of the driven wheel 5 far away from the driving wheel 4, the rotating angle of the steel wire rope 1 driven by the driving wheel 4 can reach 90 degrees, and therefore the driven wheel 5 can reach a preset rotating range.
Further, as shown in fig. 2 and 4, the driven wheel connecting device 6 includes: a set screw 8 and a copper column 9, wherein the set screw 8 and the copper column 9 are arranged in a screw hole 10 of the driven wheel 5. The copper cylinder 9 abuts against the set screw 8. The end of the steel wire rope 1 passes through a wire feeding hole 11 of the driven wheel and a screw hole 10. The set screw 10 is coupled with a thread at the bottom of the inner wall of the screw hole 11, and the set screw 10 is rotated to move up and down in the screw hole 10. The copper pillar 9 is provided at the end of the set screw 10 and abuts against the set screw 10. One end of the copper cylinder 9 is pressed when the set screw 10 is moved upward. The other end of the copper column 9 is aligned with the wire hole 11, the steel wire rope 1 penetrates through the wire hole 11, and the copper column 9 is aligned with the steel wire rope 1. When the set screw 10 is rotated to extrude the copper column 9, the copper column 9 is deformed under the action of the set screw 10 and extrudes the end part of the steel wire rope 1, and the end part of the steel wire rope 1 is locked in the wire arranging hole 11.
In a new embodiment, the driven wheel coupling means comprises: screw rod, nut and rubber gasket, the one end of screw rod is fixed on following the driving wheel. The other end of the screw rod is provided with a through hole, the nut is in threaded connection with the screw rod, the rubber gasket is sleeved at one end of the screw rod close to the through hole, the end part of the steel wire rope penetrates through a wire hole of the driven wheel and penetrates through the through hole, and the nut rotates to enable the rubber gasket to press the steel wire rope tightly so that the steel wire rope is locked in the through hole.
Further, in this embodiment, the driving wheel connecting device 7 is disposed on the driving wheel 4, and the driving wheel connecting device 7 is used for fixedly connecting the steel cable 1 with the driving wheel 4. As shown in fig. 5, further, the drive wheel connecting device 7 includes: and the aluminum clip 12 is arranged in the fixing hole 14 of the driving wheel 4. The steel wire rope 1 passes through a connecting hole 13 in the center of the aluminum clip 12 and is fixedly connected with the aluminum clip 12. An adhesive layer (not shown) is also provided between the aluminum clip 12 and the steel cord 1. When the steel wire rope is installed, the aluminum clip 12 needs to be installed on a section of the steel wire rope 1. Firstly, the aluminum clip 12 is sleeved on the steel wire rope 1, an adhesive is smeared at the joint to be used as a bonding layer, and a tool is used for pressing the aluminum clip 12 to deform. After the adhesive is solidified, the aluminum clip 12 is hung and buckled in the fixing hole 14 of the driving wheel 4. The aluminum clip 12 is arranged in the fixing hole 14 in a hanging and buckling mode, so that the connection stability of the driving wheel connecting device 7 and the driving wheel 4 is ensured.
Further, as shown in fig. 1 and 2, the tension device 3 is provided between the driving pulley 4 and the driven pulley 5 and connected to the wire rope 1. The tensioning device 3 is arranged on a knuckle of the manipulator, and the length direction of the tensioning device 3 is parallel to the connecting line of the driving wheel 4 and the driven wheel 5. That is, the two ends of the tensioner 3 are close to the driving pulley 4 and the driven pulley 5, respectively. Specifically, two ends of the steel wire rope 1 are fixedly connected with the driven wheel 4 respectively. And the wire rope 1 forms a bead ring 15 around the driving pulley 4 and the driven pulley 5.
The driving wheel 4 pulls the driven wheel 5 to rotate through the steel wire rope 1. The rope transmission mechanism adopts a winding mode of a single steel wire rope, the driving wheel 4 is fixedly hung and buckled with the steel wire rope 1, the driven wheel is locked with the tail end of the steel wire rope, and the tensioning mechanism is continuously tensioned. The whole set of transmission mechanism has large transmission torque, convenient installation, simple fixing method and good movement coordination. The problems that the operation space is narrow and small and the design of a transmission mechanism is difficult are well solved.
Further, the tensioner 3 is provided inside the traveler 15. The outer wall of the tensioner 3 abuts against the inner ring of the wire rope 1. The tension device 3 includes: a threaded rod 16, a swivel nut 17, an adjustment slider 18 and a connecting rod assembly 19. Specifically, the rotating nut 17 is screwed to the threaded rod 16, and the link assembly 19 is provided at an end of the threaded rod 16 near the driven wheel 5. An adjustment slide 18 is provided between the swivel nut 17 and the connecting-rod assembly 19. The outer wall of the connecting-rod assembly 19 is in contact with the traveler 15. Twisting the swivel nut 17 causes the swivel nut 17 to move up and down again relative to the threaded rod 16, thereby pushing the adjustment slider 19 back and forth. And, the link assembly 19 is made wider to push the traveler 15 outward to tension the wire rope 1. In this embodiment, the swivel nut 17 is continuously rotated to move the adjustment slider 18, thereby continuously adjusting the width of the link assembly 19 to be continuously varied. Finally, the purpose of continuously adjusting the tensioning degree of the steel wire rope 1 is achieved, and the adjusting efficiency and accuracy are improved.
Further, as shown in fig. 6, the link assembly 19 includes: a left link 20 and a right link 21 are symmetrically arranged. The left link 20 and the right link 21 have the same structure. A connecting plate 22 is arranged between the driving wheel 4 and the driven wheel 5, and the connecting plate 22 is fixed on the knuckle and used for driving the knuckle to rotate. The left link 20 includes: a first connecting rod 23 with one end hinged to the connecting plate 22, and a second connecting rod 24 with one end hinged to the adjusting slider 18. The movable ends of the first link 22 and the second link 23 are rotatably connected. Further, as shown in fig. 6, the first link 22 and the second link 23 are connected by a ball bearing 25. The mechanism of the right link 21 is identical to that of the left link 20, and the structure and function thereof are identical, which are not described herein. The swivel nut 17 moves back and forth on the threaded rod 16 to adjust the distance between the two ball bearings 25 and thus the degree of tension of the steel cable 1. The rope transmission mechanism in the embodiment is designed to select a steel wire rope with a larger diameter in a narrow space by using a limited space, and correspondingly adopts a locking structure which saves the most space and has a simple and stable structure. The device has the advantages of large transmission torque, convenience in installation, simple fixing method and good movement coordination.
In the embodiment of the invention, the structure has the following characteristics: the transmission form is single rope transmission, and both ends of the rope are fixedly connected with the driven wheel. The single-rope transmission mode improves the space utilization rate and increases the selection diameter of the rope on the premise of narrow installation space, thereby increasing the transmission rigidity. The rope end fixing method ensures firm fixation and is convenient for later maintenance and replacement of the steel wire rope. The continuous tensioning mechanism is convenient to adjust, effectively synchronously tensions the upper section and the lower section of the steel wire rope, and ensures the coordination of movement and the stability of force transmission.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A cord drive mechanism, comprising: a steel wire rope, a connecting device and a tensioning device, wherein,
the steel wire rope is sequentially wound on the driving wheel and the driven wheel along the clockwise or anticlockwise direction to form a steel wire ring, the driving wheel pulls the driven wheel to rotate through the steel wire rope,
the connecting device includes: a driving wheel connecting device and a driven wheel connecting device, wherein the driving wheel connecting device is arranged on the driving wheel and connects the driving wheel with the steel wire rope, the driven wheel connecting device is arranged on the driven wheel and connects the driven wheel with the steel wire rope,
the tensioning device is arranged between the driving wheel and the driven wheel and connected with the steel wire rope, and is used for tensioning the steel wire rope;
the driven wheel connecting device comprises: the wire rope fixing device comprises a screw rod, a nut and a rubber gasket, wherein one end of the screw rod is fixed on a driven wheel, a through hole is formed in the other end of the screw rod, the nut is in threaded connection with the screw rod, the rubber gasket is sleeved at one end, close to the through hole, of the screw rod, the end portion of the wire rope penetrates through a wire walking hole of the driven wheel and penetrates through the through hole, and the nut rotates to enable the rubber gasket to tightly press the wire rope so that the wire rope is locked in the through hole.
2. The rope transmission mechanism as claimed in claim 1, wherein the number of the driven wheel connecting means is two, two driven wheel connecting means are provided on the driven wheel, the connecting point of the wire rope and the driven wheel connecting means is provided on the side of the driven wheel away from the driving wheel, and the driven wheel connecting means fixes both ends of the wire rope to the driven wheel.
3. The cord drive of claim 2, wherein the driven wheel connection means comprises: holding screw and copper post, holding screw and copper post are established in the screw of follow driving wheel, the copper post with holding screw butt, wire rope's tip passes from the walking hole of driving wheel and the screw, the copper post is aimed at wire rope, the holding screw is rotatory right the copper post produces the extrusion messenger wire rope's tip is locked.
4. The cord drive mechanism of claim 2, wherein the drive wheel connection means comprises: and the steel wire rope penetrates through a connecting hole in the center of the aluminum clip and is fixedly connected with the aluminum clip.
5. The rope drive according to claim 4, wherein an adhesive layer is further provided between the aluminum clip and the steel rope.
6. The rope drive according to any one of claims 1-5, wherein the tensioning device is provided within the traveler, the tensioning device comprising: the steel wire rope tensioning device comprises a threaded rod, a rotating nut, an adjusting slider and a connecting rod assembly, wherein the rotating nut is in threaded connection with the threaded rod, the adjusting slider is arranged at the end of the threaded rod, the adjusting slider is arranged between the rotating nut and the connecting rod assembly, the outer wall of the connecting rod assembly is in contact with the steel wire ring, and the rotating nut rotationally pushes the adjusting slider to slide and enable the width of the connecting rod assembly to be increased and pushes the steel wire ring outwards to tension the steel wire rope.
7. The cord drive mechanism as set forth in claim 6, wherein said linkage assembly comprises: the left connecting rod and the right connecting rod that the symmetry set up, the structure of left connecting rod and right connecting rod is the same, the action wheel still is equipped with the connecting plate with from between the driving wheel, left side connecting rod includes: one end with connecting plate articulated first connecting rod, and one end with slider articulated second connecting rod, the expansion end rotatable coupling of first connecting rod and second connecting rod.
8. The cord drive of claim 7, wherein the first and second links are connected by ball bearings.
9. A rope transmission mechanism of a manipulator is characterized in that the rope transmission mechanism according to claims 1-8 is installed on a knuckle of the manipulator, the rope transmission mechanism is connected with a driving wheel and a driven wheel of the knuckle, and the driving wheel pulls the driven wheel to rotate through a steel wire rope so as to drive the knuckle to bend or unbend.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911371904.4A CN113043259B (en) | 2019-12-27 | 2019-12-27 | Rope transmission mechanism and rope transmission mechanism of manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911371904.4A CN113043259B (en) | 2019-12-27 | 2019-12-27 | Rope transmission mechanism and rope transmission mechanism of manipulator |
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| CN113043259A CN113043259A (en) | 2021-06-29 |
| CN113043259B true CN113043259B (en) | 2022-04-05 |
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| CN201911371904.4A Active CN113043259B (en) | 2019-12-27 | 2019-12-27 | Rope transmission mechanism and rope transmission mechanism of manipulator |
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| CN113714993B (en) * | 2021-09-16 | 2023-02-24 | 中国核电工程有限公司 | Joint master-slave manipulator pre-swing compensation device and joint master-slave manipulator |
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|---|---|---|---|---|
| JPH11280864A (en) * | 1998-03-30 | 1999-10-15 | Toyota Autom Loom Works Ltd | Power transmission mechanism |
| CN102941579A (en) * | 2012-10-23 | 2013-02-27 | 中国科学院合肥物质科学研究院 | Steel wire rope transmission mechanism of rotary mechanical arm |
| CN205937680U (en) * | 2016-08-23 | 2017-02-08 | 中国石油化工股份有限公司 | Driving belt straining device |
| US10155309B1 (en) * | 2017-11-16 | 2018-12-18 | Lam Research Corporation | Wafer handling robots with rotational joint encoders |
| CN110116402A (en) * | 2019-06-06 | 2019-08-13 | 哈尔滨工业大学 | Three-freedom mechanical arm based on coupling wire rope gearing |
| CN110594372A (en) * | 2019-09-18 | 2019-12-20 | 西安应用光学研究所 | Self-adaptive limited-angle pre-tightening transmission device suitable for limited space |
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2019
- 2019-12-27 CN CN201911371904.4A patent/CN113043259B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11280864A (en) * | 1998-03-30 | 1999-10-15 | Toyota Autom Loom Works Ltd | Power transmission mechanism |
| CN102941579A (en) * | 2012-10-23 | 2013-02-27 | 中国科学院合肥物质科学研究院 | Steel wire rope transmission mechanism of rotary mechanical arm |
| CN205937680U (en) * | 2016-08-23 | 2017-02-08 | 中国石油化工股份有限公司 | Driving belt straining device |
| US10155309B1 (en) * | 2017-11-16 | 2018-12-18 | Lam Research Corporation | Wafer handling robots with rotational joint encoders |
| CN110116402A (en) * | 2019-06-06 | 2019-08-13 | 哈尔滨工业大学 | Three-freedom mechanical arm based on coupling wire rope gearing |
| CN110594372A (en) * | 2019-09-18 | 2019-12-20 | 西安应用光学研究所 | Self-adaptive limited-angle pre-tightening transmission device suitable for limited space |
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| CN113043259A (en) | 2021-06-29 |
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