CN114393572A - Cross-joint rope driving mechanical arm - Google Patents
Cross-joint rope driving mechanical arm Download PDFInfo
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- CN114393572A CN114393572A CN202210207874.9A CN202210207874A CN114393572A CN 114393572 A CN114393572 A CN 114393572A CN 202210207874 A CN202210207874 A CN 202210207874A CN 114393572 A CN114393572 A CN 114393572A
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- rope
- driving
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- motor
- transmission
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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
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a cross-joint rope driving mechanical arm which comprises a motor shell, wherein a first motor, a second motor and a third motor are installed in the motor shell, the lower side wall of the motor shell is fixed with a shoulder joint adapter through an upper arm, the inner wall of the shoulder joint adapter is connected with a shoulder joint adapter through a first bearing, the inner wall of the shoulder joint adapter is connected with a rotating shaft through a third bearing, and the outer wall of the shoulder joint adapter is connected with a driving rope wheel through a second bearing. The control middle arm joint motor and the control lower arm shutdown motor are arranged at one position, so that the occupied space of the device is saved. And the rotation of a certain joint can be independently realized, for example, the relative position of the lower arm can be kept unchanged when the middle arm moves, so that the quality and the control mode of the joint are greatly simplified, and the production and maintenance cost is reduced.
Description
Technical Field
The invention relates to the technical field of rope-driven mechanical arms, in particular to a rope-driven type joint-crossing rope-driven mechanical arm.
Background
The rope is used as a modern reliable flexible transmission medium, has the unique advantages of stable transmission, small vibration and capability of achieving rigid transmission precision, has the characteristics of high precision, low noise, stable transmission, no need of lubrication, easiness in installation and maintenance and the like in rope driving, and is used in the fields of robots, precise transmission devices and the like abroad. In the robot technology, rope drive mainly is applied to the transmission of series-parallel mechanism and industrial robot, and remote transmission can be realized to the rope drive, can arrange the articulated motor of original drive in the arm base in addition, effectively reduces articular weight, realizes that the arm dead weight ratio is low, the light-weighted purpose, therefore the research of rope drive arm technique receives the weight and the attention of personage at home and abroad more and more.
Along with the development in the robot field, traditional industrial robot quality is bulky, the joint rotation inertia is high, lacks the compliance, and environmental suitability, man-machine interaction security are relatively poor to the installation and the control drive of rope drive formula arm are all more complicated. For example, a big arm controlled by a motor and a small arm controlled by the motor, wherein the motors of the big arm and the small arm are both installed on the same axis at the bottom of the big arm, when the big arm is controlled by the big arm motor to rotate, the small arm can generate the coupling phenomenon in the same proportion, and two motors must work simultaneously to keep the included angle between the big arm and the small arm unchanged, which brings great trouble to the control.
Disclosure of Invention
The invention aims to provide a cross-joint rope-driven mechanical arm, which reduces the weight of the mechanical arm in a rope-driven mode and improves the portability and the controllability of the mechanical arm.
In order to achieve the purpose, the invention provides the following technical scheme: a cross-joint rope-driven mechanical arm comprises a motor shell, wherein a first motor, a second motor and a third motor are installed in the motor shell, the lower side wall of the motor shell is fixed with a shoulder joint adapter through an upper arm, the inner wall of the shoulder joint adapter is connected with a shoulder joint adapter through a first bearing, the inner wall of the shoulder joint adapter is connected with a rotating shaft through a third bearing, and the outer wall of the shoulder joint adapter is connected with a driving rope pulley through a second bearing;
a shoulder joint rope wheel is arranged outside the shoulder joint adapter and is connected with the output end of the first motor through a first transmission rope; the driving rope wheel is connected with the output end of the second motor through a second transmission rope on the inner side; one end of the rotating shaft is provided with a rope driving rope wheel, the other end of the rotating shaft is provided with a second driving rope wheel, and the rope driving rope wheel is connected with the output end of a third motor through a third transmission rope;
the shoulder joint adapter is fixed with the elbow joint adapter through the middle arm, and the inner wall of the elbow joint adapter is connected with the elbow joint adapter through a fourth bearing; a third driving rope wheel is arranged outside the elbow joint adapter, and the third driving rope wheel is connected with the driving rope wheel through a second driving rope on the outer side; a fourth driving rope wheel is arranged outside the elbow joint adapter and is connected with the second driving rope wheel through a fourth driving rope on the inner side;
the elbow joint adapter is fixed with the wrist joint adapter through the lower arm, and the inner wall of the wrist joint adapter is connected with the wrist joint adapter through a fifth bearing; a wrist joint rope wheel is mounted at one end of the wrist joint adapter and is connected with a fourth driving rope wheel through a fourth transmission rope on the outer side; the other end of the wrist joint adapter is provided with a sampling end;
the inner second transmission rope and the outer second transmission rope are one rope;
the fourth transmission rope on the inner side and the fourth transmission rope on the outer side are one rope.
Compared with the prior art, the invention has the beneficial effects that:
the control middle arm joint motor and the control lower arm shutdown motor are arranged at one position, so that the occupied space of the device is saved. And the rotation of a certain joint can be independently realized, for example, the relative position of the lower arm can be kept unchanged when the middle arm moves, so that the quality and the control mode of the joint are greatly simplified, and the production and maintenance cost is reduced.
Drawings
Fig. 1 is a schematic perspective view of a rope-driven robot arm.
Fig. 2 is a schematic perspective view of the rope-driven robot arm.
Fig. 3 is a schematic perspective view of the rope-driven robot arm.
Fig. 4 is a cross-sectional structural schematic diagram of a shoulder joint of the rope-driven mechanical arm.
FIG. 5 is a schematic cross-sectional view of a cord driven arm elbow joint.
Fig. 6 is a cross-sectional structural schematic diagram of a rope-driven mechanical arm wrist joint.
1. A first motor; 1-1, upper arm; 1-2, middle arm; 1-3, lower arm; 2. a second motor; 3. a third motor; 4. a first drive line; 5. a second drive rope; 6. a third drive rope; 7-1, shoulder joint adapter; 7-2, a rotating shaft; 7-3, shoulder joint adapter pieces; 7-4, a first bearing; 7-5, a second bearing; 7-6, a third bearing; 8-1, a fourth bearing; 8-2, an elbow joint adapter; 8-3, an elbow joint adapter; 9-1, a wrist joint adapter; 9-2, a fifth bearing; 9-3, a wrist joint adapter; 10. a rope drive sheave; 11. a shoulder joint sheave; 12. a drive sheave; 13. a second drive sheave; 14. a third drive sheave; 15. a fourth drive rope; 16. a fourth drive sheave; 17. wrist joint rope sheave.
Detailed Description
Referring to fig. 1-6, the present invention provides a technical solution: the utility model provides a stride joint rope and drive arm, this arm includes motor housing, installs first motor 1, second motor 2 and third motor 3 in the motor housing, and first motor 1 is used for driving the shoulder joint motion of arm, and second motor 2 is used for driving the elbow joint motion of arm, and third motor 3 is used for driving the sampling end activity of arm. The lower side wall of the motor shell is fixed with a shoulder joint adapter 7-1 through an upper arm 1-1, the inner wall of the shoulder joint adapter 7-1 is connected with a shoulder joint adapter 7-3 through a first bearing 7-4, the inner wall of the shoulder joint adapter 7-3 is connected with a rotating shaft 7-2 through a third bearing 7-6, and therefore the rotating shaft 7-2 can freely rotate on the inner wall of the shoulder joint adapter 7-3. The outer wall of the shoulder joint adapter 7-3 is connected with a driving rope wheel 12 through a second bearing 7-5. Since the driving rope wheel 12 is arranged on the shoulder joint adapter 7-3 through the second bearing 7-5, when the shoulder joint adapter 7-3 rotates but the second motor 2 does not work, the driving rope wheel 12 does not rotate, so that the elbow joint can not move along with the shoulder joint when the shoulder joint of the device moves.
A shoulder joint rope wheel 11 is arranged outside the shoulder joint adapter 7-3, and the shoulder joint rope wheel 11 is connected with the output end of the first motor 1 through a first transmission rope 4; the driving rope wheel 12 is connected with the output end of the second motor 2 through a second transmission rope 5 at the inner side; one end of the rotating shaft 7-2 is provided with a rope driving rope wheel 10, the other end of the rotating shaft is provided with a second driving rope wheel 13, and the rope driving rope wheel 10 is connected with the output end of the third motor 3 through a third transmission rope 6; the third motor 3 drives the rotating shaft 7-2 to rotate, and the rotating shaft 7-2 can drive the second driving rope wheel 13 to rotate.
The shoulder joint adapter 7-3 is fixed with the elbow joint adapter 8-3 through the middle arm 1-2, and the inner wall of the elbow joint adapter 8-3 is connected with the elbow joint adapter 8-2 through a fourth bearing 8-1; a third driving rope wheel 14 is arranged outside the elbow joint adapter 8-3, and the third driving rope wheel 14 is connected with the driving rope wheel 12 through a second driving rope 5 on the outer side. Therefore, when the elbow joint needs to be driven to rotate independently, the second motor 2 is started to drive the driving rope wheel 12 to rotate, and then the second driving rope 5 on the outer side drives the third driving rope wheel 14 to rotate.
A fourth driving rope wheel 16 is arranged outside the elbow joint adapter 8-2, and the fourth driving rope wheel 16 is connected with the second driving rope wheel 13 through a fourth driving rope 15 on the inner side. The rotation amount transmitted by the second driving rope wheel 13 drives the fourth driving rope wheel 16 to rotate through the fourth driving rope 15 on the inner side, and the transmission amount of the fourth driving rope wheel 16 in rotation drives the wrist joint rope wheel 17 to rotate through the fourth driving rope 15 on the outer side.
The elbow joint adapter 8-2 is fixed with the wrist joint adapter 9-3 through the lower arm 1-3, and the inner wall of the wrist joint adapter 9-3 is connected with the wrist joint adapter 9-1 through the fifth bearing 9-2; a wrist joint rope pulley 17 is installed at one end of the wrist joint adapter 9-1, and the wrist joint rope pulley 17 is connected with a fourth driving rope pulley 16 through a fourth driving rope 15 on the outer side; the other end of the wrist joint adapter 9-1 is provided with a sampling end.
The inner second transmission rope 5 and the outer second transmission rope 5 are arranged on the driving rope wheel 12 at intervals. The second transmission rope 5 at the inner side forms a transmission wheel to work between the driving rope wheel 12 and the output end of the second motor 2; the second driving rope 5 at the outer side also forms a driving wheel which works between the driving rope wheel 12 and the third driving rope wheel 14;
the inner fourth drive rope 15 and the outer fourth drive rope 15 are disposed at an interval on the fourth drive sheave 16. The inner fourth driving rope 15 forms a driving wheel working between the second driving rope wheel 13 and the fourth driving rope wheel 16; the fourth driving rope 15 on the outer side forms a driving wheel which works between the fourth driving rope wheel 16 and the wrist joint rope wheel 17;
the second transmission rope 5 and the fourth transmission rope 15 arranged in this way can be arranged on the driving rope wheel 12 and the fourth driving rope wheel 16 side by side, and the phenomena of rope pressing and overlapping are effectively avoided.
The inner fourth driving rope 15 and the outer fourth driving rope 15 form a whole driving rope; the inner second drive line 5 and the outer second drive line 5 likewise form a complete drive line. The following effects are achieved by respectively adopting a rope for driving the driving rope wheel 12 and the fourth driving rope wheel 16:
1) because a rope is usually driven by a motor, adopt two ropes then to need four motors on drive rope sheave 12 and fourth drive rope sheave 16, can increase consumption and quality from economic consideration, and a rope can form a closed loop and link to each other with the motor, only needs a motor just can realize that the motor is positive and negative to be changeed and drive rope sheave work.
2) If two rope driving rope wheels 12 and a fourth driving rope wheel 16 are respectively adopted, the friction between the ropes and the driving rope wheels is increased, and the transmission precision of the centering arm 1-2 and the lower arm 1-3 is also influenced.
The invention also provides a winding mode of the cross-joint rope drive mechanical arm, which comprises a winding mode of a second transmission rope 5 and a fourth transmission rope 15;
1) firstly, winding a second transmission rope 5 on the output end of a second motor 2 for a plurality of circles; winding the second transmission rope 5 on the driving rope wheel 12 for a plurality of circles, and winding the second transmission rope on the driving rope wheel 12 for a plurality of circles after one end distance is separated; then the second driving rope 5 is wound on the third driving rope wheel 14 for a plurality of circles; finally, the tail end of the second transmission rope 5 bypasses the driving rope pulley 12 and is fixed with the end head of the second transmission rope 5 at the output end of the second motor 2;
2) firstly, winding a fourth transmission rope 15 on a second driving rope wheel 13 for a plurality of circles; winding a fourth transmission rope 15 on a fourth driving rope wheel 16 for a plurality of circles, and winding the fourth transmission rope on the fourth driving rope wheel 16 for a plurality of circles after spacing one end; then the fourth transmission rope 15 is wound on the wrist joint rope pulley 17 for a plurality of circles; and finally, the tail end of the fourth transmission rope 15 is wound around the fourth driving rope wheel 16 and then is fixed with the end head of the fourth transmission rope 15 at the second driving rope wheel 13.
Claims (4)
1. The utility model provides a cross joint rope and drive arm which characterized in that: the mechanical arm comprises a motor shell, wherein a first motor (1), a second motor (2) and a third motor (3) are installed in the motor shell, the lower side wall of the motor shell is fixed with a shoulder joint adapter (7-1) through an upper arm (1-1), the inner wall of the shoulder joint adapter (7-1) is connected with a shoulder joint adapter (7-3) through a first bearing (7-4), the inner wall of the shoulder joint adapter (7-3) is connected with a rotating shaft (7-2) through a third bearing (7-6), and the outer wall of the shoulder joint adapter (7-3) is connected with a driving rope pulley (12) through a second bearing (7-5);
a shoulder joint rope wheel (11) is arranged outside the shoulder joint adaptor (7-3), and the shoulder joint rope wheel (11) is connected with the output end of the first motor (1) through a first transmission rope (4); the driving rope wheel (12) is connected with the output end of the second motor (2) through a second transmission rope (5) at the inner side; one end of the rotating shaft (7-2) is provided with a rope driving rope wheel (10), the other end of the rotating shaft is provided with a second driving rope wheel (13), and the rope driving rope wheel (10) is connected with the output end of the third motor (3) through a third transmission rope (6);
the shoulder joint adapter (7-3) is fixed with the elbow joint adapter (8-3) through the middle arm (1-2), and the inner wall of the elbow joint adapter (8-3) is connected with the elbow joint adapter (8-2) through the fourth bearing (8-1); a third driving rope wheel (14) is installed outside the elbow joint adapter (8-3), and the third driving rope wheel (14) is connected with the driving rope wheel (12) through a second driving rope (5) on the outer side; a fourth driving rope wheel (16) is arranged outside the elbow joint adapter (8-2), and the fourth driving rope wheel (16) is connected with the second driving rope wheel (13) through a fourth driving rope (15) on the inner side;
the elbow joint adapter (8-2) is fixed with the wrist joint adapter (9-3) through the lower arm (1-3), and the inner wall of the wrist joint adapter (9-3) is connected with the wrist joint adapter (9-1) through the fifth bearing (9-2); a wrist joint rope wheel (17) is installed at one end of the wrist joint adapter (9-1), and the wrist joint rope wheel (17) is connected with a fourth driving rope wheel (16) through a fourth driving rope (15) on the outer side; the other end of the wrist joint adapter (9-1) is provided with a sampling end.
2. The cross-joint rope driven mechanical arm according to claim 1, wherein: the inner second transmission rope (5) and the outer second transmission rope (5) are one rope;
the fourth transmission rope (15) on the inner side and the fourth transmission rope (15) on the outer side are one rope.
3. The cross-joint rope driven mechanical arm according to claim 2, wherein: the inner second transmission rope (5) and the outer second transmission rope (5) are arranged on the driving rope wheel (12) at intervals;
and the fourth transmission rope (15) on the inner side and the fourth transmission rope (15) on the outer side are arranged on the fourth driving rope wheel (16) at intervals.
4. A method of winding a wire around a cross-joint rope driven robotic arm as claimed in claim 1, wherein: the winding mode comprises a winding mode of a second transmission rope (5) and a fourth transmission rope (15);
1) firstly, winding the second transmission rope (5) on the output end of the second motor (2) for a plurality of circles; then winding the second transmission rope (5) on the driving rope wheel (12) for a plurality of circles, and winding the second transmission rope on the driving rope wheel (12) for a plurality of circles after spacing one end; then winding the second transmission rope (5) on the third driving rope wheel (14) for a plurality of circles; finally, the tail end of the second transmission rope (5) bypasses the driving rope wheel (12) and is fixed with the end head of the second transmission rope (5) at the output end of the second motor (2);
2) firstly, winding the fourth transmission rope (15) on a second driving rope wheel (13) for a plurality of circles; then winding a fourth transmission rope (15) on a fourth driving rope wheel (16) for a plurality of circles, and winding the fourth driving rope wheel (16) for a plurality of circles after spacing one end; then winding a fourth transmission rope (15) on the wrist joint rope pulley (17) for a plurality of circles; and finally, the tail end of the fourth transmission rope (15) is wound around the fourth driving rope wheel (16) and then is fixed with the end head of the fourth transmission rope (15) at the second driving rope wheel (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210207874.9A CN114393572A (en) | 2022-03-03 | 2022-03-03 | Cross-joint rope driving mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210207874.9A CN114393572A (en) | 2022-03-03 | 2022-03-03 | Cross-joint rope driving mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN114393572A true CN114393572A (en) | 2022-04-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210207874.9A Pending CN114393572A (en) | 2022-03-03 | 2022-03-03 | Cross-joint rope driving mechanical arm |
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| CN (1) | CN114393572A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115488873A (en) * | 2022-10-19 | 2022-12-20 | 北京航空航天大学 | Rope-driven variable-rigidity seven-degree-of-freedom mechanical arm with less input |
| CN115953940A (en) * | 2022-10-25 | 2023-04-11 | 深圳技术大学 | Portable surgical robot teaching equipment |
-
2022
- 2022-03-03 CN CN202210207874.9A patent/CN114393572A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115488873A (en) * | 2022-10-19 | 2022-12-20 | 北京航空航天大学 | Rope-driven variable-rigidity seven-degree-of-freedom mechanical arm with less input |
| CN115953940A (en) * | 2022-10-25 | 2023-04-11 | 深圳技术大学 | Portable surgical robot teaching equipment |
| CN115953940B (en) * | 2022-10-25 | 2023-10-13 | 深圳技术大学 | Portable surgical robot teaching equipment |
| WO2024088030A1 (en) * | 2022-10-25 | 2024-05-02 | 深圳技术大学 | Portable surgical robot teaching facility |
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