CN114393572B - Rope-driven mechanical arm crossing joints - Google Patents
Rope-driven mechanical arm crossing joints Download PDFInfo
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- CN114393572B CN114393572B CN202210207874.9A CN202210207874A CN114393572B CN 114393572 B CN114393572 B CN 114393572B CN 202210207874 A CN202210207874 A CN 202210207874A CN 114393572 B CN114393572 B CN 114393572B
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- rope
- driving rope
- driving
- wheel
- motor
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- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 40
- 210000003857 wrist joint Anatomy 0.000 claims description 28
- 230000005540 biological transmission Effects 0.000 claims description 25
- 210000002310 elbow joint Anatomy 0.000 claims description 24
- 238000004804 winding Methods 0.000 claims description 19
- 238000005070 sampling Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims 4
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Abstract
The invention discloses a joint-crossing rope driving mechanical arm which comprises a motor shell, wherein a first motor, a second motor and a third motor are arranged 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. By arranging the control middle arm joint motor and the lower arm shutdown motor at one position, the occupied space of the device is saved. The rotation of a certain joint can be realized independently, for example, the relative position of the lower arm can be kept unchanged when the middle arm moves, so that the quality and 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 cross-joint rope-driven mechanical arm.
Background
The rope is used as a reliable flexible transmission medium, has the unique advantages of stable transmission, small vibration and capability of achieving rigid transmission precision, so that the rope drive has the characteristics of high precision, low noise, stable transmission, no need of lubrication, easy installation and maintenance and the like, and is used in the fields of robots, precise transmission devices and the like abroad. In the robot technology, the rope drive is mainly applied to the transmission of a serial-parallel mechanism and an industrial robot, the rope drive can realize long-distance transmission, and a motor for driving a joint originally can be arranged on a mechanical arm base, so that the weight of the joint is effectively reduced, and the purposes of low self weight ratio and light weight of the mechanical arm are realized, so that the research of the rope drive mechanical arm technology is increasingly paid attention to by people at home and abroad.
Along with the development of the robot field, the traditional industrial robot has large mass and volume, high joint rotation inertia, lack of flexibility, poor environmental adaptability and man-machine interaction safety, and more complicated installation and control driving of the rope-driven mechanical arm. For example, the large arm and the small arm controlled by the motor are both installed on the same axis at the bottom of the large arm, when the large arm motor controls the large arm to rotate, the small arm can generate the coupling phenomenon in the same proportion, and in order to keep the included angle between the large arm and the small arm unchanged, the two motors must work simultaneously, which brings great trouble to control.
Disclosure of Invention
The invention aims to provide a joint-crossing rope-driven mechanical arm, which reduces the weight of the mechanical arm in a rope-driven manner and improves the portability and the operability of the mechanical arm.
In order to achieve the above purpose, the present invention provides the following technical solutions: the mechanical arm comprises a motor shell, wherein a first motor, a second motor and a third motor are arranged 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 shoulder joint rope pulley is arranged outside the shoulder joint adapter and 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 driving rope at 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 driving rope;
The shoulder joint adapter is fixed with the elbow joint adapter seat through a middle arm, and the inner wall of the elbow joint adapter seat is connected with the elbow joint adapter through a fourth bearing; a third driving rope wheel is arranged outside the elbow joint adapter seat, and the third driving rope wheel is connected with the driving rope wheel through a second driving rope at the outer side; a fourth driving rope wheel is arranged outside the elbow joint adapter, and the fourth driving rope wheel 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 seat through a lower arm, and the inner wall of the wrist joint adapter seat is connected with the wrist joint adapter through a fifth bearing; one end of the wrist joint adapter is provided with a wrist joint rope pulley, and the wrist joint rope pulley is connected with a fourth driving rope pulley through a fourth driving rope at the outer side; the other end of the wrist joint adapter is provided with a sampling end;
The second driving rope on the inner side and the second driving rope on the outer side are one rope;
The inner side fourth driving rope and the outer side fourth driving rope are one rope.
Compared with the prior art, the invention has the beneficial effects that:
By arranging the control middle arm joint motor and the lower arm shutdown motor at one position, the occupied space of the device is saved. The rotation of a certain joint can be realized independently, for example, the relative position of the lower arm can be kept unchanged when the middle arm moves, so that the quality and 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 mechanical arm.
Fig. 2 is a schematic perspective view of a rope-driven mechanical arm.
Fig. 3 is a schematic perspective view of a rope-driven mechanical arm.
Fig. 4 is a schematic diagram of a sectional structure of a shoulder joint of the rope-driven mechanical arm.
Fig. 5 is a schematic diagram of a cross-sectional structure of the elbow joint of the rope-driven mechanical arm.
Fig. 6 is a schematic diagram of a cross-sectional structure of a wrist joint of a rope-driven mechanical arm.
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 driving rope; 5. a second driving rope; 6. a third driving rope; 7-1, a shoulder joint adapter; 7-2, a rotating shaft; 7-3, a shoulder joint adapter; 7-4, a first bearing; 7-5, a second bearing; 7-6, a third bearing; 8-1, a fourth bearing; 8-2, elbow joint adapter; 8-3, elbow joint adapter; 9-1, 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 driving 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 in the motor housing, second motor 2 and third motor 3, 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 the shoulder joint adapter seat 7-1 through the upper arm 1-1, the inner wall of the shoulder joint adapter seat 7-1 is connected with the shoulder joint adapter 7-3 through the first bearing 7-4, the inner wall of the shoulder joint adapter 7-3 is connected with the rotating shaft 7-2 through the 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 to the drive sheave 12 via a second bearing 7-5. Since the driving sheave 12 is mounted on the shoulder joint adapter 7-3 via the second bearing 7-5, the driving sheave 12 will not rotate when the shoulder joint adapter 7-3 is rotated, but the second motor 2 is not in operation, thus ensuring that the elbow joint will not move when the shoulder joint of the device is moving.
A shoulder joint rope pulley 11 is arranged outside the shoulder joint adapter 7-3, and the shoulder joint rope pulley 11 is connected with the output end of the first motor 1 through a first driving 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 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 driving 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 the fourth bearing 8-1; a third driving rope wheel 14 is arranged outside the elbow joint adapter seat 8-3, and the third driving rope wheel 14 is connected with the driving rope wheel 12 through a second driving rope 5at the outer side. Thus, when the elbow joint needs to be independently driven to rotate, the second motor 2 is started to drive the driving rope pulley 12 to rotate, and then the second driving rope 5 on the outer side drives the third driving rope pulley 14 to rotate.
A fourth drive sheave 16 is mounted outside the elbow joint coupling 8-2, and the fourth drive sheave 16 is connected to the second drive sheave 13 via an inner fourth drive rope 15. 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 rotation 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; one end of the wrist joint adapter 9-1 is provided with a wrist joint rope pulley 17, and the wrist joint rope pulley 17 is connected with a fourth driving rope pulley 16 through a fourth driving rope 15 at the outer side; the other end of the wrist joint adapter 9-1 is provided with a sampling end.
The inner second rope 5 and the outer second rope 5 are disposed at a distance from each other on the drive sheave 12. The second transmission rope 5 on the inner side forms a transmission wheel which works between the driving rope wheel 12 and the output end of the second motor 2; the second outer drive rope 5 also forms a transmission wheel working between the drive sheave 12 and the third drive sheave 14;
the inner fourth rope 15 and the outer fourth rope 15 are disposed at a distance from each other on the fourth drive sheave 16. The fourth transmission rope 15 on the inner side forms a transmission wheel which works between the second driving rope wheel 13 and the fourth driving rope wheel 16; the outer fourth driving rope 15 forms a driving wheel which works between the fourth driving rope wheel 16 and the wrist rope wheel 17;
The second driving rope 5 and the fourth driving rope 15 which are 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 fourth driving rope 15 on the inner side and the fourth driving rope 15 on the outer side form a whole driving rope; the inner second drive rope 5 and the outer second drive rope 5 also form a complete drive rope. By driving the drive sheave 12 and the fourth drive sheave 16 with one rope, respectively, the following effects are achieved:
1) Because one rope is usually driven by one motor, four motors are needed for driving the rope wheels 12 and the fourth driving rope wheel 16 by two ropes, the power consumption and the quality can be increased from the economic aspect, and one rope can form a closed loop and be connected with the motors, and the forward and reverse rotation of the motors can be realized by only one motor to drive the rope driving rope wheels to work.
2) If two rope drive sheaves 12 and a fourth drive sheave 16 are used, respectively, friction between the ropes and the drive sheaves will be increased, and the transmission accuracy of the center arm 1-2 and the lower arm 1-3 will be affected.
The invention also provides a winding mode of the joint-crossing rope-driven mechanical arm, which comprises a winding mode of the second transmission rope 5 and the fourth transmission rope 15;
1) First, winding a second driving rope 5 on the output end of a second motor 2 for a plurality of weeks; winding the second driving rope 5 on the driving rope wheel 12 for a plurality of weeks, and winding the second driving rope 5 on the driving rope wheel 12 for a plurality of weeks after a distance is formed between the second driving rope and the driving rope; then winding the second drive rope 5 around the third drive sheave 14 for several weeks; finally, the end tail 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) First, the fourth driving rope 15 is wound around the second driving sheave 13 for several weeks; winding the fourth driving rope 15 on the fourth driving rope wheel 16 for a plurality of weeks, and winding the fourth driving rope wheel 16 for a plurality of weeks after a distance is formed between one end of the fourth driving rope wheel and the fourth driving rope wheel; then the fourth driving rope 15 is wound on the wrist joint rope pulley 17 for a plurality of weeks; finally, the end tail of the fourth driving rope 15 bypasses the fourth driving rope wheel 16 and is fixed with the end head of the fourth driving rope 15 at the second driving rope wheel 13.
Claims (4)
1. The utility model provides a stride 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 arranged in the motor shell, the lower side wall of the motor shell is fixed with a shoulder joint adapter seat (7-1) through an upper arm (1-1), the inner wall of the shoulder joint adapter seat (7-1) is connected with a shoulder joint adapter piece (7-3) through a first bearing (7-4), the inner wall of the shoulder joint adapter piece (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 piece (7-3) is connected with a driving rope wheel (12) through a second bearing (7-5);
The shoulder joint rope pulley (11) is arranged outside the shoulder joint adapter (7-3), and the shoulder joint rope pulley (11) is connected with the output end of the first motor (1) through the first driving 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 driving 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 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) at 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) at 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); one end of the wrist joint adapter (9-1) is provided with a wrist joint rope pulley (17), and the wrist joint rope pulley (17) is connected with a fourth driving rope pulley (16) through a fourth driving rope (15) at the outer side; the other end of the wrist joint adapter (9-1) is provided with a sampling end.
2. The articulated rope drive mechanical arm of claim 1, wherein: the second driving rope (5) at the inner side and the second driving rope (5) at the outer side are one rope;
The inner side fourth driving rope (15) and the outer side fourth driving rope (15) are one rope.
3. The articulated rope drive mechanical arm of claim 2, wherein: the second driving rope (5) on the inner side and the second driving rope (5) on the outer side are arranged at intervals on the driving rope wheel (12);
The inner side fourth driving rope (15) and the outer side fourth driving rope (15) are arranged on the fourth driving rope wheel (16) at intervals.
4. The method for winding the articulated rope drive mechanical arm according to claim 1, wherein the method comprises the following steps: the winding method comprises a winding method of a second driving rope (5) and a fourth driving rope (15);
1) Firstly, winding the second driving rope (5) on the output end of the second motor (2) for a plurality of weeks; winding the second transmission rope (5) on the driving rope wheel (12) for a plurality of weeks, and winding the second transmission rope on the driving rope wheel (12) for a plurality of weeks after a distance is formed between the second transmission rope and the driving rope; then winding the second transmission rope (5) on the third driving rope wheel (14) for a plurality of weeks; finally, the end tail of the second driving rope (5) bypasses the driving rope wheel (12) and is fixed with the end head of the second driving 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 weeks; winding a fourth driving rope (15) on a fourth driving rope wheel (16) for a plurality of weeks, and winding the fourth driving rope wheel (16) for a plurality of weeks after a distance is formed between the fourth driving rope wheel and one end of the fourth driving rope wheel; then winding the fourth driving rope (15) on the wrist joint rope wheel (17) for a plurality of weeks; and finally, the end tail of the fourth driving rope (15) bypasses the fourth driving rope wheel (16) and is fixed with the end head of the fourth driving rope (15) at the second driving rope wheel (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210207874.9A CN114393572B (en) | 2022-03-03 | Rope-driven mechanical arm crossing joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210207874.9A CN114393572B (en) | 2022-03-03 | Rope-driven mechanical arm crossing joints |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114393572A CN114393572A (en) | 2022-04-26 |
| CN114393572B true CN114393572B (en) | 2024-07-02 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN216859730U (en) * | 2022-03-03 | 2022-07-01 | 沈阳工业大学 | Cross-joint rope driving mechanical arm |
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN216859730U (en) * | 2022-03-03 | 2022-07-01 | 沈阳工业大学 | Cross-joint rope driving mechanical arm |
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