CN115107080A - Elbow joint, mechanical arm and robot - Google Patents
Elbow joint, mechanical arm and robot Download PDFInfo
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- CN115107080A CN115107080A CN202210451627.3A CN202210451627A CN115107080A CN 115107080 A CN115107080 A CN 115107080A CN 202210451627 A CN202210451627 A CN 202210451627A CN 115107080 A CN115107080 A CN 115107080A
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- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 73
- 230000008878 coupling Effects 0.000 claims abstract description 42
- 238000010168 coupling process Methods 0.000 claims abstract description 42
- 238000005859 coupling reaction Methods 0.000 claims abstract description 42
- 210000000323 shoulder joint Anatomy 0.000 claims description 23
- 210000003857 wrist joint Anatomy 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 9
- 238000004804 winding Methods 0.000 claims description 8
- 210000000707 wrist Anatomy 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 13
- 230000005540 biological transmission Effects 0.000 description 9
- 238000013473 artificial intelligence Methods 0.000 description 8
- 238000013459 approach Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
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- 210000002435 tendon Anatomy 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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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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Abstract
The utility model provides an elbow joint, arm and robot relates to the robotechnology field. The mechanical elbow joint comprises a fixed piece, a movable piece, a connecting piece and a driving component; the fixed piece is rotationally connected with the first end of the connecting piece, and the movable piece is rotationally connected with the second end of the connecting piece; the driving assembly comprises at least two driving sources and at least two driving ropes; each of the at least two driving sources is connected with the movable piece through at least one driving rope; the at least two driving sources can respectively apply traction forces in the same direction to the movable piece through at least one driving rope to drive the movable piece to rotate around the second end of the connecting piece. According to the mechanical elbow joint, the at least two driving sources can apply traction force to the moving part at the same time to drive the moving part to rotate, coupling driving of the at least two driving sources to the moving part is achieved, and working performances of the moving part such as rotating torque and rotating speed are improved.
Description
Technical Field
The disclosure relates to the technical field of robots, in particular to a mechanical elbow joint, a mechanical arm and a robot.
Background
With the development of robotics and the diffusion of applicable fields, robots have become irreplaceable tools in the fields of production, service and the like. The articulated robot is based on the bionic design of human arms, and is widely applied due to the advantages of flexible action, compact structure and the like.
In the related art, an articulated robot generally includes a shoulder joint, an elbow joint and a wrist joint, the elbow joint adopts a closed loop rope drive (Tendon drive) scheme, but in the drive scheme, the elbow joint adopts a single drive source, and the speed, acceleration and other properties of the elbow joint are completely dependent on the properties of the drive source, which is not beneficial to improving the properties of the elbow joint.
Disclosure of Invention
The utility model provides a mechanical elbow joint, arm and robot can solve the elbow joint performance and depend on the performance of driving source completely, is unfavorable for the problem that the performance promoted.
The technical scheme is as follows:
in one aspect, a mechanical elbow joint is provided and includes a fixed member, a movable member, a connecting member, and a driving assembly;
the fixed piece is rotationally connected with the first end of the connecting piece, and the movable piece is rotationally connected with the second end of the connecting piece;
the driving assembly comprises at least two driving sources and at least two driving ropes;
each of the at least two driving sources is connected with the movable member through at least one driving rope;
the at least two driving sources can apply traction forces in the same direction to the movable member through at least one driving rope respectively to drive the movable member to rotate around the second end of the connecting member.
In another aspect, a robot arm is provided, wherein the robot arm comprises a mechanical elbow joint, a mechanical shoulder joint and a mechanical wrist joint according to the present disclosure;
the mechanical shoulder joint is connected with the fixed piece, and the mechanical wrist joint is connected with the movable piece; the at least two drive sources are located within the mechanical shoulder joint.
In another aspect, a robot is provided, wherein the elbow joint according to the present disclosure or the robot arm according to the present disclosure is used.
The beneficial effect that technical scheme that this disclosure provided brought includes at least:
the mechanical elbow joint comprises a fixing piece, a moving piece and a driving assembly, wherein the driving assembly comprises at least two driving sources and at least two driving ropes, each driving source in the at least two driving sources is connected with the moving piece through at least one driving rope, the at least two driving sources can apply traction to the moving piece at the same time, the moving piece is driven to rotate, the coupling driving of the moving piece by the at least two driving sources is realized, and the working performances of the moving piece such as the rotating moment and the rotating speed are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic structural view of a mechanical elbow joint provided by an embodiment of the present disclosure;
FIG. 2 is a side view of a partial structure of a wrist provided in an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a configuration of a wrist assembly first drive cable provided in accordance with an embodiment of the present disclosure;
FIG. 4 is a schematic structural view of a wrist assembly second drive cable provided in accordance with an embodiment of the present disclosure;
FIG. 5 is a schematic view of the assembly of the stationary member, the movable member, and the connecting member provided by the embodiment of the present disclosure;
FIG. 6 is a schematic structural view of a robotic arm provided in embodiments of the present disclosure;
fig. 7 is a partial structural schematic view of a robotic arm provided in an embodiment of the present disclosure.
The reference numerals in the figures are denoted respectively by:
10. a mechanical elbow joint; 20. a mechanical shoulder joint; 30. a robotic wrist joint;
001. a first axis; 002. a second axis;
1. a fixing member; 101. a third position; 102. a fourth position;
11. a fixed body; 12. a third passive sheave; 13. a fourth passive sheave; 14. a seventh passive sheave; 15. an eighth driven sheave; 16. a second connection seat body; 17. a second curved surface portion;
2. a movable member; 201. a first position; 202. a second position;
21. a movable body; 22. a first passive sheave; 23. a second passive sheave; 24. a fifth driven sheave; 25. a sixth driven sheave; 26. a first connection seat body; 27. a first curved surface portion;
3. a connecting member; 31. a bottom plate portion; 32. a side plate portion; 33. lightening holes;
4. a drive assembly;
41. a drive source; 411. a first drive sheave; 412. a second drive sheave;
42. a drive rope; 421. a first drive rope; 422. a second drive rope;
5. an auxiliary rope;
6. a coupling sheave; 61. the circumferential surface of the rope is wound;
7. a sheave base; 71. a rope winding bracket;
8. a drive bracket;
9. a sheave bearing.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Unless defined otherwise, all technical terms used in the embodiments of the present disclosure have the same meaning as commonly understood by one of ordinary skill in the art.
In the related art, an articulated robot generally includes a mechanical shoulder joint, a mechanical elbow joint, and the mechanical elbow joint adopts a closed loop rope drive (or called wire drive) scheme.
However, in the closed loop cable driving scheme, each degree of freedom is driven by a driving source (such as a motor) matched with two cables, and the driving source moves in a forward direction and a reverse direction to respectively pull one cable so as to drive the elbow joint to move in a corresponding direction.
Each degree of freedom of the mechanical elbow joint corresponds to a driving source, and the speed, the acceleration and other performances of the mechanical elbow joint completely depend on the performances of the driving source, so that the improvement of the movement performance of the joint is not facilitated.
In addition, a redundant rope driving scheme is also provided in the prior art, namely a scheme that three motors are adopted to drive two degrees of freedom, but the scheme is only based on the coordination action of a plurality of driving ropes, so that the mechanical elbow joint moves according to the expected direction, angle or position, and the movement performance of each degree of freedom cannot be improved.
Therefore, the mechanical elbow joint has the advantages that the at least two first driving sources can apply traction force to the moving part at the same time to drive the moving part to rotate, coupling driving of the at least two first driving sources to the moving part is achieved, and working performances of the moving part such as rotating torque and rotating speed are improved.
It should be understood that the mechanical elbow joint provided by the application can be applied to mechanical arms and robot scenes in the fields of cloud technology, artificial intelligence, intelligent traffic and the like, and human-computer interaction and service of the scenes such as daily life of people are achieved through the mechanical arms.
Artificial intelligence is a theory, method, technique and application system that uses a mathematical computer or a machine controlled by a digital computer to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making.
The artificial intelligence is a comprehensive subject, and relates to a wide field, namely a hardware level technology and a software level technology. The basic technologies of artificial intelligence generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, and mechatronics. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.
It can be understood that an Intelligent Transportation System (ITS) applied in the field of Intelligent Transportation is also called an Intelligent Transportation System (Intelligent Transportation System), and is a comprehensive Transportation System which effectively and comprehensively applies advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation research, artificial intelligence and the like) to Transportation, service control and vehicle manufacturing, strengthens the relation among vehicles, roads and users, thereby forming a comprehensive Transportation System which ensures safety, improves efficiency, improves environment and saves energy. To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a mechanical elbow joint provided by an embodiment of the disclosure.
In one aspect, referring to fig. 1, the present embodiment provides a wrist 10, and the wrist 10 includes a fixed member 1, a movable member 2, a connecting member 3, and a driving member 4.
The fixed piece 1 is rotationally connected with a first end of the connecting piece 3, and the movable piece 2 is rotationally connected with a second end of the connecting piece 3; the drive assembly 4 comprises at least two drive sources 41 and at least two drive ropes 42; each of the at least two drive sources 41 is connected to the movable element 2 by at least one drive rope 42.
At least two driving sources 41 can apply traction forces to the movable element 2 in the same direction through at least one driving rope 42, respectively, to drive the movable element 2 to rotate around the second end of the connecting element 3.
The mechanical elbow joint 10 comprises a fixing member 1, a movable member 2 and a driving assembly 4, wherein the driving assembly 4 comprises at least two driving sources 41 and at least two driving ropes 42, each driving source 41 in the at least two driving sources 41 is connected with the movable member 2 through at least one driving rope 42, the at least two driving sources 41 can apply traction to the movable member 2 at the same time, the movable member 2 is driven to rotate, the at least two driving sources 41 are used for coupling driving of the movable member 2, and the working performances of the movable member 2 such as the rotating moment and the rotating speed are improved.
In the wrist joint 30 provided in this embodiment, a coupling driving mode of at least two first driving sources 41 is adopted, and the first driving source 41 with a large mass can be far away from the end-point actuator (e.g., the movable element 2), so that inertia of the end-point actuator is reduced by reasonable arrangement, and dynamic performance of the end-point actuator is improved.
At least two driving sources 41 transmit power through driving ropes 42, the driving ropes 42 are flexibly arranged, the occupied space is small, and the mechanical wrist joint is very suitable for mechanical wrist joints 30 which are narrow in space and high in required freedom degree.
In addition, at least two driving sources 41 transmit power through the driving ropes 42, the driving principle is consistent with the transmission principle of human body tendons, the background and the requirement of bionic design are met, and the design of the mechanical wrist joint 30 is more close to the elbow joint of the human body, so that various kinds of work can be better performed instead of manual work.
In the mechanical elbow joint 10 of the present embodiment, the fixed member 1 and the movable member 2 are bridged by the connecting member 3, and the distance between the fixed member 1 and the movable member 2 is relatively large, so that the movable member 2 has a relatively large space for rotational movement about the fixed member 1.
Illustratively, the number of the driving sources 41 is, for example, two, three, four, or the like. Alternatively, the number of the drive sources 41 is two.
Another exemplary number of drive cords 42 is, for example, two, three, four, etc. Alternatively, the number of drive cords 42 is two.
For example, when the number of the driving sources 41 is two and the number of the driving ropes 42 is two, each of the driving sources 41 is connected to the mover 2 through one driving rope 42.
For another example, when the number of the driving sources 41 is two and the number of the driving ropes 42 is three, one of the driving sources 41 is connected to the mover 2 through two of the driving ropes 42, and the other driving source 41 is connected to the mover 2 through one of the driving ropes 42.
For another example, when the number of the driving sources 41 is two and the number of the driving ropes 42 is four, each of the driving sources 41 is connected to the movable element 2 by two driving ropes 42.
In some possible implementations, the at least two driving sources 41 include a motor and a driving rope sheave, the motor and the driving rope sheave are connected through a transmission mechanism, and the driving rope sheave is driven by the motor to rotate through the transmission mechanism.
The driving rope 42 is wound around the driving sheave, and the driving sheave rotates to wind the driving rope 42 thereon, thereby generating traction to the movable element 2 through the driving rope 42.
In some possible implementations, the transmission includes, but is not limited to, a belt transmission, a gear transmission, a worm gear transmission, and the like.
The transmission mechanism is illustratively a belt transmission, and includes, for example, a driving pulley connected to an output shaft of the motor, a driving belt connected to the driving sheave, and a driven pulley connected between the driving pulley and the driven pulley.
Still further exemplary, the drive mechanism is a belt drive, for example, further comprising a tensioning mechanism proximate to the drive belt, the tensioning mechanism being operable to adjust a tension of the drive belt.
In some possible implementations, the driving assembly 4 includes two motors, and the real-time output torques of the two motors are respectively T m1 And T m2 The equivalent driving torque of the joint is tau 1 And τ 2 And the diameters of all the wire wheels are consistent. According to the characteristics of the structure (neglecting the friction force of the driving rope, namely the force of the driving rope is equal everywhere), the relation between the joint torque and the motor torque can be obtained as follows:
further, the driving torque T for each motor m1 And T m2 Assume that its maximum output torque limit is:
max(abs(T m1 ),abs(T m2 ))≤T M (2)
then, according to the above formula (1), the maximum output torque per joint can be obtained as
Namely, the loading capacity of a single degree of freedom in the mechanical joint can be improved to 2 times at most by a coupled rope arrangement mode.
As used herein, the terms "plurality", "at least one" mean one or more, and the terms "plurality", "at least two" mean two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
As shown in connection with fig. 2, in some embodiments, each of the at least two drive sources 41 is connected to the moveable member 2 by at least two drive cables 42.
At least one of the at least two drive cables 42 is connected to a first location 201 of the movable member 2, at least one of the remaining drive cables 42 is connected to a second location 202 of the movable member 2, and the first location 201 and the second location 202 are respectively located on two sides of a first axis 001 of the rotational connection between the movable member 2 and the connecting member 3.
Each of the at least two driving sources 41 is capable of applying traction forces of opposite directions to the movable element 2 via at least two driving ropes 42 to drive the movable element 2 to rotate in different directions.
In the mechanical elbow joint 10 of the present embodiment, each driving source 41 is connected to the movable member 2 through at least two driving cables 42, and the at least two driving cables 42 are respectively connected to the first position 201 and the second position 202 of the movable member 2.
When the driving source 41 rotates in a certain direction, a traction force can be applied to one of the two positions through one of the driving ropes 42, so that a moment in a certain direction is formed on the movable element 2, and the movable element 2 can rotate around the first axis 001 under the action of the moment. At this time, the movable member 2 realizes a unidirectional motion toward a certain degree of freedom.
When the driving source 41 rotates in the opposite direction, a traction force is correspondingly applied to the other of the two positions through the other driving rope 42, so that a moment symmetrical to the specific direction is formed on the movable element 2, and the movable element 2 reversely rotates around the first axis 001 under the action of the symmetrical moment. At this point, the moving element 2 performs a return movement toward this degree of freedom.
When the driving source 41 is controlled to rotate in different directions alternately, the movable element 2 can perform the reciprocating motion with the degree of freedom, thereby satisfying the basic motion function of the mechanical elbow joint 10.
In some embodiments, as shown in fig. 1, at least two drive sources 41 are located on a side of the stationary member 1 facing away from the moveable member 2, and at least two drive cables 42 are connected to the moveable member 2 through the stationary member 1.
The mechanical elbow joint 10 of this embodiment, moving part 2 need reduce self quality as far as end execution structure, alleviate its moment of inertia, promote dynamic behavior, consequently set up two at least first driving sources 41 in the one side that the base spare deviates from moving part 2, and drive rope 42 passes mounting 1 and is connected with moving part 2, can be in order to alleviate moving part 2's moment of inertia, again can the flexible advantage of full play rope drive scheme arrangement.
As shown in connection with fig. 3, 4 and 2, in some embodiments, the movable member 2 includes a movable main body 21, a first passive sheave 22 and a second passive sheave 23; the first driven rope pulley 22 and the second driven rope pulley 23 are coaxially and symmetrically arranged at two sides of the movable main body 21; the positions of the first and second driven sheaves 22 and 23 correspond to the first position 201 or the second position 202.
The at least two driving sources 41 include a first drive sheave 411 and a second drive sheave 412; the at least two drive cords 42 include a first drive cord 421 and a second drive cord 422; a first drive rope 421 connects the first drive sheave 411 and the first driven sheave 22, and a second drive rope 422 connects the second drive sheave 412 and the second driven sheave 23.
The wrist joint 10 is configured such that when the first driving sheave 411 and the second driving sheave 412 rotate, the traction force applied to the first driven sheave 22 by the first driving rope 421 and the traction force applied to the second driven sheave 23 by the second driving rope 422 are in the same direction.
In the wrist joint 10 of the present embodiment, the first driving sheave 411 and the second driving sheave 412 can apply traction forces to the movable element 2 corresponding to the first position 201 or the second position 202 in the same direction through the first driving rope 421 and the second driving rope 422, respectively, so that the movable body 21 obtains the sum of the powers of the two driving sources 41, and the working performances such as the rotational moment and the rotational speed of the movable element 2 are significantly improved.
Exemplarily, the positions of the first and second passive sheaves 22 and 23 correspond to the first position 201 or the positions of the first and second passive sheaves 22 and 23 correspond to the second position 202.
As shown in connection with fig. 3 and 4, in some embodiments, the fixing member 1 includes a fixing body 11, a third driven sheave 12 and a fourth driven sheave 13; the third driven sheave 12 and the fourth driven sheave 13 are coaxially and symmetrically disposed at both sides of the fixed body 11.
The first drive rope 421 connects the first drive sheave 411, the first driven sheave 22, and the third driven sheave 12, and the second drive rope 422 connects the second drive sheave 412, the second driven sheave 23, and the fourth driven sheave 13.
The wrist joint 10 is configured such that when the first driving sheave 411 pulls the first driven sheave 22 and the third driven sheave 12 to approach each other by the first driving rope 421 and/or the second driving sheave 412 pulls the second driven sheave 23 and the fourth driven sheave 13 to approach each other by the second driving rope 422, the connecting member 3 and the movable member 2 rotate relative to the fixed member 1, and the movable member 2 rotates relative to the connecting member 3.
As described with reference to fig. 2, the positions of the third driven sheave 12 and the fourth driven sheave 13 correspond to the third position 101 of the fixed body 11, and the third position 101 is symmetrically arranged with respect to the first position 201.
In the mechanical elbow joint 10 of the present embodiment, the fixed member 1 and the movable member 2 have similar structures, the first driving rope 421 is wound around the first driven rope sheave 22 and the third driven rope sheave 12 at the same time, when the first driving rope sheave 411 drives the first driving rope 421 to tighten, the first driven rope sheave 22 and the third driven rope sheave 12 approach each other under the traction of the first driving rope 421, at this time, in combination with the rotational connection relationship of the fixed member 1, the connecting member 3 and the movable member 2, the movable member 2 and the connecting member 3 rotate relative to the fixed member 1, and at the same time, the movable member 2 also rotates relative to the connecting member 3.
Accordingly, the second driving rope 422 is simultaneously wound around the second driven rope sheave 23 and the fourth driven rope sheave 13, and when the second driving rope sheave 412 drives the second driving rope 422 to be tightened, the second driven rope sheave 23 and the fourth driven rope sheave 13 approach each other under the traction of the first driving rope 421, and at this time, the movable member 2 and the connecting member 3 rotate relative to the fixed member 1, and the movable member 2 rotates relative to the connecting member 3.
As shown in connection with fig. 3, in some embodiments, the moving member 2 further includes a fifth driven sheave 24 and a sixth driven sheave 25; the fifth driven rope pulley 24 and the sixth driven rope pulley 25 are coaxially and symmetrically arranged at two sides of the movable main body 21; the positions of the first and second driven sheaves 22 and 23 correspond to a first position 201, and the positions of the fifth and sixth driven sheaves 24 and 25 correspond to a second position 202.
In some possible implementations, the first end of the first driving rope 421 is connected to the first driven sheave 22, and the second end is connected to the fifth driven sheave 24 after passing around the first driving sheave 411; the first driving sheave 411 rotates in a direction to draw one of the first driven sheave 22 and the fifth driven sheave 24 to move in a direction to approach the first driving sheave 411; the first driving sheave 411 rotates in the opposite direction, and can pull the other of the first driven sheave 22 and the fifth driven sheave 24 to move in a direction close to the first driving sheave 411.
In other possible implementations, the second driving rope 422 has a first end connected to the second driven sheave 23 and a second end connected to the sixth driven sheave 25 after passing around the second driving sheave 412; the second driving sheave 412 rotates in a direction capable of pulling one of the second driven sheave 23 and the sixth driven sheave 25 to move in a direction close to the second driving sheave 412; the second driving sheave 412 rotates in the opposite direction, and can pull the other of the second driven sheave 23 and the sixth driven sheave 25 to move in a direction closer to the second driving sheave 412.
In the elbow joint 10 of the present embodiment, two sets of passive sheaves are respectively disposed on the movable member 2 at the first position 201 and the second position 202. The positions of the first driven sheave 22 and the second driven sheave 23 correspond to a first position 201, and the positions of the fifth driven sheave 24 and the sixth driven sheave 25 correspond to a second position 202.
The first driving rope 421 is sequentially connected to the first driven sheave 22, the first driving sheave 411 and the fifth driven sheave 24, so that when the first driving sheave 411 rotates in a certain direction, a portion of the first driving rope 421 connected to the first driven sheave 22 is tightened, and a corresponding portion of the first driving rope 421 connected to the fifth driven sheave 24 is loosened. The movable element 2 has a tendency of making the first driven sheave 22 close to the first driving sheave 411, and the movable element 2 rotates toward this direction along with the continuous rotation of the first driving sheave 411. On the contrary, when the movable element 2 tends to move the fifth driven sheave 24 toward the first driving sheave 411, the movable element 2 rotates in the opposite direction.
The second driving rope 422 is sequentially connected with the second driven rope sheave 23, the second driving rope sheave 412 and the sixth driven rope sheave 25, so that when the second driving rope sheave 412 rotates towards a certain direction, part of the second driving rope 422 connected with the second driven rope sheave 23 is tightened, and the corresponding part of the second driving rope 422 connected with the sixth driven rope sheave 25 is loosened, and further, the movable element 2 has a tendency that the second driven rope sheave 23 approaches the second driving rope sheave 412, and the movable element 2 is rotated towards the certain direction along with the continuous rotation of the second driving rope sheave 412. Conversely, the movable element 2 has a tendency to draw the sixth driven sheave 25 toward the second driving sheave 412, toward which the movable element 2 is rotated.
Referring to fig. 3, in some embodiments, the first driving rope 421 has a first end connected to the first driven sheave 22 and a second end connected to the fifth driven sheave 24 after passing through the third driven sheave 12 and the first driving sheave 411.
Referring to fig. 4, in some embodiments, the second driving rope 422 is connected to the second driven sheave 23 at a first end and connected to the sixth driven sheave 25 at a second end passing through the fourth driven sheave 13 and the second driving sheave 412.
The first driving rope 421 and the second driving rope 422 of the present embodiment are respectively connected between the movable element 2 and the fixed element 1, and can draw the movable element 2 and the fixed element 1 to rotate relatively with the rotation driving of the first driving sheave 411 or the second driving sheave 412.
As shown in connection with fig. 3, in some embodiments, the fixed element 1 further comprises a seventh passive sheave 14 and an eighth passive sheave 15; the third driven rope pulley 12 and the fourth driven rope pulley 13 are coaxially and symmetrically arranged at two sides of the fixed main body 11; the second end of the first driving rope 421 passes around the third driven sheave 12 and the first driving sheave 411, and then passes around the fifth driven sheave 24 and the seventh driven sheave 14.
Referring to fig. 2, the seventh driven sheave 14 and the eighth driven sheave 15 correspond to the fourth position 102 of the fixed body 11, and the fourth position 102 is symmetrical to the second position 202.
Referring to fig. 4, in some embodiments, the second end of the second drive rope 422 passes around the fourth driven sheave 13, the second driving sheave 412, and then passes around the sixth driven sheave 25 and the eighth driven sheave 15.
Therefore, in the mechanical elbow joint 10 of the embodiment, the fixed member 1 and the movable member 2 have similar structures, the first driving rope 421 can be wound around the first driven rope sheave 22, the third driven rope sheave 12, the fifth driven rope sheave 24 and the seventh driven rope sheave 14 to realize bidirectional traction connection between the movable member 2 and the fixed member 1, and in the process that the first driving rope sheave 411 drives the first driving rope 421, the first driving rope 421 can transmit traction force to the movable member 2 and the fixed member 1 through the four rope sheaves, so that the maximum moment of rope driving force is improved, and a large driving moment can be realized.
Referring to fig. 2, in some embodiments, a second axis 002, along which the fixed member 1 and the movable member 2 are rotatably connected, is parallel to the first axis 001, the first driven sheave 22, the second driven sheave 23, the third driven sheave 12 and the fourth driven sheave 13 are positioned on one side of a plane defined by the first axis 001 and the second axis 002, and the fifth driven sheave 24, the sixth driven sheave 25, the seventh driven sheave 14 and the eighth driven sheave 15 are positioned on the other side of the plane defined by the first axis 001 and the second axis 002.
In the wrist joint 10 of the present embodiment, the first axis 001 and the second axis 002 are parallel to each other, the first driven sheave 22, the second driven sheave 23, the third driven sheave 12, and the fourth driven sheave 13 are located on one side of a plane defined by the two axes, and the fifth driven sheave 24, the sixth driven sheave 25, the seventh driven sheave 14, and the eighth driven sheave 15 are located on the other side of the plane defined by the two axes. Therefore, when the two driving ropes 42 are used for traction driving of the driven rope wheels at different positions, the stress of the movable part 2 and the fixed part 1 is balanced, and the motion precision and stability of the mechanical elbow joint 10 are improved.
As shown in fig. 2, in some embodiments, the movable body 21 includes a first connection seat 26 and a first curved surface portion 27, and a center of the first curved surface portion 27 is located on a first axis 001; the fixed main body 11 includes a second connecting seat 16 and a second curved surface 17, and the center of the second curved surface 17 is located on a second axis 002 of the rotating connection between the fixed member 1 and the movable member 2.
In the elbow joint 10 of the present embodiment, the movable body 21 and the fixed body 11 have corresponding structures, and the first curved surface portion 27 and the second curved surface portion 17 correspond to each other, so as to ensure that the movable body 21 and the fixed body 11 avoid collision interference during relative rotation, thereby improving the movement stability of the elbow joint 10.
In some embodiments, as shown in fig. 2, the wrist joint 10 further comprises two auxiliary cables 5, the two auxiliary cables 5 are connected between the first curved surface portion 27 and the second curved surface portion 17 in a crossed symmetry manner, and the two auxiliary cables 5 are configured to make the rotation angles of the first curved surface portion 27 and the second curved surface portion 17 coincide.
In the elbow joint 10 of the present embodiment, in order to ensure the rotation angles of the movable body 21 and the fixed body 11 to be consistent, two auxiliary ropes 5 are symmetrically crossed between the first curved surface portion 27 and the second curved surface portion 17, which can play a role in mutual traction and mutual restriction during the movement of the elbow joint 10.
As shown in connection with fig. 5, in some embodiments, the connector 3 comprises a bottom plate portion 31 and at least one side plate portion 32; the bottom plate portion 31 is located in one rotation direction of the moving element 2, and two ends of the bottom plate portion 31 respectively correspond to the fixed element 1 and the moving element 2 and are used for providing a limit for the moving element 2 to rotate towards the rotation direction; at least one side plate portion 32 is connected to the bottom plate portion 31, and the stationary member 1 and the movable member 2 are rotatably connected to both ends of the at least one side plate portion 32, respectively.
The connecting piece 3 of this embodiment can increase the distance between the moving part 2 and the fixed part 1, and improve the range of motion of the moving part 2. The connecting element 3 comprises a bottom plate 31 and at least one side plate 32, the bottom plate 31 providing a stop for the moving element 2 towards a certain direction of rotation. When the movable element 2 rotates, the two ends of the bottom plate portion 31 can abut against the movable element 2 and the fixed element 1, so that the limit of the rotation angle is realized.
Illustratively, the number of the side plate portions 32 is, for example, one or two. Alternatively, the number of the side plate portions 32 is two, and the two side plate portions 32 are provided at both ends in the axial direction of the first axis 001 or the second axis 002, respectively.
In some possible implementations, the bottom plate portion 31 and at least one of the side plate portions 32 are provided with lightening holes 33 to lighten the mass of the connecting member 3.
On the other hand, as shown in fig. 6, the present embodiment provides a robot arm including the elbow joint 10 of the present disclosure, and the shoulder joint 20 and the wrist joint 30; the mechanical shoulder joint 20 is connected with the fixed piece 1, and the mechanical wrist joint 30 is connected with the movable piece 2; at least two drive sources 41 are located within the mechanical shoulder joint 20.
The mechanical arm of the present embodiment employs the elbow joint 10 of the present disclosure, and has all the technical effects of the elbow joint 10 of the present disclosure.
In addition, the robot arm of the present embodiment includes a shoulder joint 20, an elbow joint 10, and a wrist joint 30, which are connected in sequence, and can simulate the motion of a human arm to help people to complete various tasks.
At least two driving sources 41 are arranged in the mechanical shoulder joint 20, the rotational inertia of the mechanical elbow joint 10 can be prevented from being increased as much as possible, and the driving ropes 42 can be flexibly arranged to be in power connection with the mechanical elbow joint 10 so as to realize the coupling driving of a single degree of freedom in the mechanical elbow joint 10.
As shown in connection with fig. 7, in some embodiments, the mechanical shoulder joint 20 includes: a coupling rope wheel 6, a rope wheel base 7 and a driving bracket 8; the fixing piece 1 and the driving support 8 are respectively connected with a rope wheel base 7, and the rope wheel base 7 is rotationally connected with the coupling rope wheel 6; at least two drive sources 41 are located within the drive carriage 8; at least two drive ropes 42 are connected to the coupling sheaves 6, respectively.
The mechanical arm is configured that at least two driving sources 41 respectively apply traction forces in the same direction to the movable member 2 through at least one driving rope 42, and the movable member 2 rotates around the second end of the connecting member 3; at least two driving sources 41 respectively apply traction forces in opposite directions to the movable element 2 through at least one driving rope 42, and the rope wheel base 7 drives the mechanical elbow joint 10 and the driving support 8 to rotate around the coupling rope wheel 6.
In the robot arm of the present embodiment, at least two drive sources 41 have a first operation mode and a second operation mode:
in a first operating mode, the at least two driving sources 41 can drive the movable element 2 to rotate relative to the fixed element 1, and the position of the sheave base 7 relative to the coupling sheave 6 is fixed.
In the second operation mode, the at least two driving sources 41 can drive the movable element 2, the fixed element 1, and the sheave base 7 to rotate relative to the coupling sheave 6, and fix the position of the movable element 2 relative to the fixed element 1.
The present embodiment uses a set of driving sources 41, and by controlling the set of driving sources 41 to operate in different operation modes, the elbow joint 10 and the shoulder joint 20 can be driven separately, thereby improving the utilization rate of the set of driving sources 41.
In addition, the mechanical elbow joint 10 and the mechanical shoulder joint 20 can be driven by the superposition of traction of at least two driving sources 41, so that at least twice traction driving is realized, and the working performances of the mechanical elbow joint 10 and the mechanical shoulder joint 20, such as the rotating torque, the rotating speed and the like, are favorably improved.
As shown in connection with fig. 7, in some embodiments, the mechanical shoulder joint 20 further comprises a pulley bearing 9; the coupling rope wheel 6 is connected with the outer ring of the rope wheel bearing 9, and the rope wheel base 7 is connected with the inner ring of the rope wheel bearing 9; the rope pulley base 7 further comprises a rope winding support 71, and the rope winding support 71 is used for winding the driving rope 42 into or out of the rope winding peripheral surface 61 of the coupling rope pulley 6 in the process that the rope pulley base 7 drives the fixing piece 1 and the driving support 8 to rotate around the coupling rope pulley 6.
Therefore, in the mechanical arm of the embodiment, one part of the mechanical shoulder joint 20 is connected with the coupling rope wheel 6, the other part of the mechanical shoulder joint is connected with the rope wheel base 7, the latter is connected with the fixing piece 1 of the mechanical elbow joint 10, the rope wheel base 7 is rotatably connected with the coupling rope wheel 6 through the rope wheel bearing 9, the structure is simple, different driving effects of at least two driving sources 41 in different working modes can be realized, the utilization rate of the driving sources 41 is improved, and the rotational inertia of the mechanical arm is reduced.
As shown in fig. 7, in some embodiments, the first end of the first driving rope 421 is connected to and wound around the coupling sheave 6 in the first circumferential direction, and the second end is connected to and wound around the coupling sheave 6 in the second circumferential direction after passing through the third driven sheave 12, the first driven sheave 22, the first driving sheave 411, the seventh driven sheave 14, and the fifth driven sheave 24; a first end of the second driving rope 422 is connected to and wound around the coupling sheave 6 in the second circumferential direction, and a second end thereof is connected to and wound around the coupling sheave 6 in the first circumferential direction after passing through the fourth driven sheave 13, the second driven sheave 23, the second driving sheave 412, the eighth driven sheave 15, and the sixth driven sheave 25; wherein the first circumferential direction and the second circumferential direction are two opposite directions along the circumference of the coupling sheave 6.
The mechanical arm of the embodiment, as shown in fig. 7, 3 and 4, has the following specific working process analysis:
a first operating mode:
when the first driving sheave 411 and the second driving sheave 412 rotate in the same direction, the first driving rope 421 and the second driving rope 422 respectively apply traction force to the first position 201 where the first driven sheave 22 and the second driven sheave 23 of the movable element 2 are located (or the second position 202 where the fifth driven sheave 24 and the sixth driven sheave 25 are located) toward the fixed element 1, so that the movable element 2 rotates around the first axis 001 to the side where the first position 201 where the first driven sheave 22 and the second driven sheave 23 are located (or the fifth driven sheave 24 and the sixth driven sheave 25) are located;
at this time, since the first and second drive ropes 421 and 422 are connected to the coupling sheave 6 in opposite directions, the traction forces of the first and second drive ropes 421 and 422 on the coupling sheave 6 are cancelled out, that is, the sheave base 7 is maintained in a state of being balanced in force, and the sheave base 7 and the coupling sheave 6 are maintained in a fixed relative position.
A second working mode:
when the first driving sheave 411 and the second driving sheave 412 rotate in opposite directions, the first driving rope 421 applies traction force toward the fixed member 1 toward the first position 201 where the first driven sheave 22 and the second driven sheave 23 of the movable member 2 are located, the second driving rope 422 applies traction force toward the fixed member 1 toward the second position 202 where the fifth driven sheave 24 and the sixth driven sheave 25 of the movable member 2 are located (alternatively, the first driving rope 421 applies traction force toward the second position 202 where the fifth driven sheave 24 and the sixth driven sheave 25 of the movable member 2 are located, and the second driving rope 422 applies traction force toward the first position 201 where the first driven sheave 22 and the second driven sheave 23 of the movable member 2 are located), the forces on the two sides of the axis of the movable member 2 are offset with each other, the movable member 2 is in a state of force balance, and the movable member 2 and the fixed member 1 are kept in a relative position.
At this time, since the connection directions of the first drive rope 421 and the second drive rope 422 and the coupling sheave 6 are opposite, in the case where the first drive rope 421 and the second drive rope 422 are opposite in the moving direction, the traction forces to the coupling sheave 6 are conversely the same, and thus the resultant of the traction forces of the first drive rope 421 and the second drive rope 422 received by the coupling sheave 6 is equal to the sum of the traction forces of the two. But because the coupling rope wheel 6 is a fixed end, the rope wheel base 7 is reversely pushed to move, and the movement of the rope wheel base 7 driving the mechanical elbow joint 10 is realized.
In another aspect, the present embodiment provides a robot using the presently disclosed elbow joint 10, or the presently disclosed robot arm.
The robot of the present embodiment employs the presently disclosed elbow joint 10 or robot arm, and has all the technical effects of the presently disclosed elbow joint 10 or robot arm.
As used herein, the terms "plurality", "at least one" mean one or more, and the terms "plurality", "at least two" mean two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
It is noted that, in the description of the present disclosure, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as either a fixed connection, a removable connection, or an integral connection; may be a mechanical connection; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only 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 one or more features. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.
It is noted that, in the present disclosure, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present specification, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a particular feature, structure, material, or characteristic described in connection with the embodiments or examples is included in at least one embodiment or example of the present disclosure.
The above description is intended only to illustrate the present disclosure, and not to limit the present disclosure, and any modifications, equivalents, improvements, etc. made within the principle of the present disclosure should be included in the scope of the present disclosure.
Claims (17)
1. The mechanical elbow joint is characterized in that the mechanical elbow joint (10) comprises a fixed piece (1), a movable piece (2), a connecting piece (3) and a driving component (4);
the fixed piece (1) is rotatably connected with a first end of the connecting piece (3), and the movable piece (2) is rotatably connected with a second end of the connecting piece (3);
the drive assembly (4) comprises at least two drive sources (41) and at least two drive ropes (42);
each of the at least two drive sources (41) is connected to the movable element (2) by at least one drive cable (42);
the at least two driving sources (41) can respectively apply traction forces in the same direction to the movable element (2) through at least one driving rope (42) to drive the movable element (2) to rotate around the second end of the connecting element (3).
2. The mechanical elbow joint according to claim 1, characterized in that each of the at least two drive sources (41) is connected to the movable member (2) by at least two drive cables (42);
at least one of the at least two drive ropes (42) is connected to a first position (201) of the movable member (2), at least one of the other drive ropes (42) is connected to a second position (202) of the movable member (2), and the first position (201) and the second position (202) are respectively located on two sides of a first axis (001) of the rotary connection between the movable member (2) and the connecting member (3);
each of the at least two drive sources (41) is capable of applying opposite directions of traction to the movable element (2) via the at least two drive cables (42) to drive the movable element (2) to rotate in different directions.
3. The mechanical elbow joint according to claim 1, characterized in that the at least two drive sources (41) are located on a side of the stationary member (1) facing away from the movable member (2), and the at least two drive cables (42) are connected to the movable member (2) through the stationary member (1).
4. The mechanical elbow joint according to claim 2, characterized in that the movable member (2) comprises a movable body (21), a first passive sheave (22) and a second passive sheave (23); the first driven rope wheel (22) and the second driven rope wheel (23) are coaxially and symmetrically arranged on two sides of the movable main body (21); the positions of the first passive sheave (22) and the second passive sheave (23) correspond to the first position (201) or the second position (202);
the at least two drive sources (41) include a first drive sheave (411) and a second drive sheave (412);
the at least two drive cords (42) comprise a first drive cord (421) and a second drive cord (422);
the first drive rope (421) connecting the first drive sheave (411) and the first driven sheave (22), the second drive rope (422) connecting the second drive sheave (412) and the second driven sheave (23);
the elbow joint (10) is configured such that when the first driving sheave (411) and the second driving sheave (412) rotate, the traction force applied to the first driven sheave (22) by the first driving rope (421) and the traction force applied to the second driven sheave (23) by the second driving rope (422) are in the same direction.
5. The mechanical elbow joint according to claim 4, characterized in that the fixed element (1) comprises a fixed body (11), a third passive sheave (12) and a fourth passive sheave (13); the third driven rope wheel (12) and the fourth driven rope wheel (13) are coaxially and symmetrically arranged on two sides of the fixed main body (11);
the first driving rope (421) is connected with the first driving rope wheel (411), the first driven rope wheel (22) and the third driven rope wheel (12), and the second driving rope (422) is connected with the second driving rope wheel (412), the second driven rope wheel (23) and the fourth driven rope wheel (13);
the mechanical elbow joint (10) is configured to enable the first driving rope wheel (411) to draw through the first driving rope (421), the first driven rope wheel (22) and the third driven rope wheel (12) are close to each other, and/or enable the second driving rope wheel (412) to draw through the second driving rope (422), when the second driven rope wheel (23) and the fourth driven rope wheel (13) are close to each other, the connecting piece (3) and the moving piece (2) are relative to the fixing piece (1) to rotate, and the moving piece (2) is relative to the connecting piece (3) to rotate.
6. The mechanical elbow joint according to claim 5, characterized in that the movable member (2) further comprises a fifth passive sheave (24) and a sixth passive sheave (25); the fifth driven rope pulley (24) and the sixth driven rope pulley (25) are coaxially and symmetrically arranged at two sides of the movable main body (21); the positions of the first passive sheave (22) and the second passive sheave (23) correspond to the first position (201), and the positions of the fifth passive sheave (24) and the sixth passive sheave (25) correspond to the second position (202);
the first end of the first driving rope (421) is connected with the first driven rope wheel (22), and the second end of the first driving rope (421) is connected with the fifth driven rope wheel (24) after being wound around the first driving rope wheel (411); the first driving sheave (411) rotates in a direction capable of drawing one of the first driven sheave (22) and the fifth driven sheave (24) to move in a direction approaching the first driving sheave (411); the first driving sheave (411) rotates in the opposite direction and can draw the other of the first driven sheave (22) and the fifth driven sheave (24) to move toward the direction close to the first driving sheave (411);
and/or the presence of a gas in the gas,
the first end of the second driving rope (422) is connected with the second driven rope wheel (23), and the second end of the second driving rope (422) is wound around the second driving rope wheel (412) and then is connected with the sixth driven rope wheel (25); the second driving sheave (412) rotates in a direction capable of pulling one of the second driven sheave (23) and the sixth driven sheave (25) to move in a direction approaching the second driving sheave (412); the second driving sheave (412) rotates in the opposite direction and can draw the other of the second driven sheave (23) and the sixth driven sheave (25) to move in a direction approaching the second driving sheave (412).
7. The mechanical elbow joint according to claim 6, characterized in that the first end of the first driving rope (421) is connected with the first passive rope wheel (22), and the second end is connected with the fifth passive rope wheel (24) after passing through the third passive rope wheel (12) and the first driving rope wheel (411);
and/or the presence of a gas in the gas,
and the first end of the second driving rope (422) is connected with the second driven rope wheel (23), and the second end of the second driving rope (422) is wound through the fourth driven rope wheel (13) and the second driving rope wheel (412) and then is connected with the sixth driven rope wheel (25).
8. The mechanical elbow joint according to claim 7, characterized in that the fixed part (1) further comprises a seventh passive sheave (14) and an eighth passive sheave (15); the third driven rope wheel (12) and the fourth driven rope wheel (13) are coaxially and symmetrically arranged at two sides of the fixed main body (11);
the second end of the first driving rope (421) is wound through the third driven rope wheel (12) and the first driving rope wheel (411) and then is wound through the fifth driven rope wheel (24) and the seventh driven rope wheel (14);
and/or the presence of a gas in the gas,
and the second end of the second driving rope (422) is wound through the fourth driven rope wheel (13) and the second driving rope wheel (412) and then wound through the sixth driven rope wheel (25) and the eighth driven rope wheel (15).
9. The mechanical elbow joint according to claim 8, characterized in that the second axis (002) of the rotational connection of the fixed element (1) and the movable element (2) is parallel to the first axis (001), the first passive sheave (22), the second passive sheave (23), the third passive sheave (12) and the fourth passive sheave (13) are located on one side of the plane defined by the first axis (001) and the second axis (002), and the fifth passive sheave (24), the sixth passive sheave (25), the seventh passive sheave (14) and the eighth passive sheave (15) are located on the other side of the plane defined by the first axis (001) and the second axis (002).
10. The mechanical elbow joint according to claim 4, characterized in that said movable body (21) comprises a first connection seat (26) and a first curved surface portion (27), said first curved surface portion (27) having a centre located on said first axis (001); the fixed main body (11) comprises a second connecting seat body (16) and a second curved surface portion (17), and the circle center of the second curved surface portion (17) is located on a second axis (002) where the fixed piece (1) and the movable piece (2) are rotatably connected.
11. The wrist joint according to claim 10, characterized in that the wrist joint (10) further comprises two auxiliary cables (5), the two auxiliary cables (5) are connected between the first curved surface portion (27) and the second curved surface portion (17) in a cross-symmetrical manner, and the two auxiliary cables (5) are configured such that the rotation angles of the first curved surface portion (27) and the second curved surface portion (17) are identical.
12. The elbow joint according to any of claims 1-11, characterized in that the connecting piece (3) comprises a bottom plate part (31) and at least one side plate part (32); the bottom plate part (31) is positioned in one rotating direction of the moving part (2), and two ends of the bottom plate part (31) respectively correspond to the fixed part (1) and the moving part (2) and are used for providing limit for the rotating direction of the moving part (2);
the at least one side plate portion (32) is connected with the bottom plate portion (31), and the fixed piece (1) and the movable piece (2) are respectively connected to two ends of the at least one side plate portion (32) in a rotating mode.
13. A robot arm, characterized in that the robot arm comprises a wrist joint (10) according to any of claims 1-12, as well as a shoulder joint (20) and a wrist joint (30);
the mechanical shoulder joint (20) is connected with the fixed part (1), and the mechanical wrist joint (30) is connected with the movable part (2); the at least two drive sources (41) are located within the mechanical shoulder joint (20).
14. A robot arm according to claim 13, characterized in that the robot shoulder joint (20) comprises: a coupling rope wheel (6), a rope wheel base (7) and a driving support (8);
the fixing piece (1) and the driving support (8) are respectively connected with the rope wheel base (7), and the rope wheel base (7) is rotatably connected with the coupling rope wheel (6); the at least two drive sources (41) are located within the drive carriage (8); the at least two driving ropes (42) are respectively connected with the coupling rope wheel (6);
the mechanical arm is configured in such a way that the at least two driving sources (41) respectively apply traction forces in the same direction to the movable element (2) through at least one driving rope (42), and the movable element (2) rotates around the second end of the connecting element (3); at least two driving sources (41) are respectively through at least one drive rope (42) to moving part (2) application opposite direction's traction force, rope sheave base (7) drive elbow joint (10) with drive support (8) wind coupling rope sheave (6) are rotatory.
15. A robot arm according to claim 14, characterized in that the robot shoulder joint (20) further comprises a rope pulley bearing (9); the coupling rope wheel (6) is connected with the outer ring of the rope wheel bearing (9), and the rope wheel base (7) is connected with the inner ring of the rope wheel bearing (9);
the rope wheel base (7) further comprises a rope winding support (71), the rope winding support (71) is used for driving the fixing piece (1) and the driving support (8) to wind the coupling rope wheel (6) in the rotating process, and the driving rope (42) is wound into or out of a rope winding peripheral surface (61) of the coupling rope wheel (6).
16. A robotic arm as claimed in claim 14,
the first end of the first driving rope (421) is connected with and wound around the coupling rope wheel (6) along a first circumferential direction, and the second end of the first driving rope is connected with and wound around the coupling rope wheel (6) along a second circumferential direction after passing through the third driven rope wheel (12), the first driven rope wheel (22), the first driving rope wheel (411), the seventh driven rope wheel (14) and the fifth driven rope wheel (24);
the first end of the second driving rope (422) is connected and wound on the coupling rope wheel (6) along the second circumferential direction, and the second end of the second driving rope (422) is connected and wound on the coupling rope wheel (6) along the first circumferential direction after passing through the fourth driven rope wheel (13), the second driven rope wheel (23), the second driving rope wheel (412), the eighth driven rope wheel (15) and the sixth driven rope wheel (25);
wherein the first circumferential direction and the second circumferential direction are two opposite directions along the circumference of the coupling sheave (6).
17. A robot, characterized in that a wrist (10) according to any of claims 1-12 or a robot arm according to any of claims 13-16 is used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210451627.3A CN115107080A (en) | 2022-04-26 | 2022-04-26 | Elbow joint, mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210451627.3A CN115107080A (en) | 2022-04-26 | 2022-04-26 | Elbow joint, mechanical arm and robot |
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| CN115107080A true CN115107080A (en) | 2022-09-27 |
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| CN202210451627.3A Pending CN115107080A (en) | 2022-04-26 | 2022-04-26 | Elbow joint, mechanical arm and robot |
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