CN202878312U

CN202878312U - Cable-driven multi-joint robot

Info

Publication number: CN202878312U
Application number: CN 201220596642
Authority: CN
Inventors: 庄德胜
Original assignee: Individual
Current assignee: Individual
Priority date: 2012-11-13
Filing date: 2012-11-13
Publication date: 2013-04-17
Anticipated expiration: 2022-11-13

Abstract

The utility model belongs to the technical field of the joint robot, in particular to a cable-driven multi-joint robot. The cable-driven multi-joint robot solves the problems of the multi-joint wirerope drive and arrangement. The cable-driven multi-joint robot comprises a hand, a wrist, a forearm, an upper arm, a shoulder, a waist and a base. The base is provided with the waist and the waist is connected with the shoulder through a crank shaft group. The shoulder is connected with the upper arm through a rotary joint shaft, wherein the upper arm is connected with the forearm through a driven gear II on a rotary joint shaft, the forearm is connected with the wrist through a driven gear I on a rotary joint shaft and the wrist is connected with the hand through a rotary joint shaft. Accordingly, multiple joints are formed at each interconnected portions. A multi-joint cable-driven unit is connected with one or more than two of the waist, the shoulder, the upper arm, the forearm, the wrist and the hand through soft ropes to form the cable-driven multi-joint robot. The cable-driven multi-joint robot has eight degrees of freedom and can give full play to advantages of wirerope drive, such as high drive accuracy and simple arrangement.

Description

Rope-driven multi-joint robot

Technical Field

The utility model belongs to joint robot field specifically is a rope drive articulated robot.

Background

The mechanical arm joint generally adopts a transmission mechanism directly connected with a motor, a gear reducer and a joint shaft, the transmission mechanism requires the motor and the gear reducer to be arranged at the mechanical arm joint accessory, the mechanism is simple but not compact in structure, and the appearance is not neat. The mechanical arm with multiple joints has the outstanding defects that in the multi-joint mechanical arm, a motor, a gear reducer and other transmission devices of a next-stage joint become the load of a previous-stage joint, the requirements on power and transmission elements of the mechanical arm are increased, the overall weight and internal consumption are increased, and the capacity and efficiency of the mechanical arm for applying work to the outside are reduced.

In the published data, patent "a wire rope transmission mechanism for a mechanical arm, publication No. CN 1995777A" of the present invention, and related papers thereof, such as "mechanism design of a wire rope transmission four-degree-of-freedom mechanical arm" and "mechanism design of a wire rope transmission 5-degree-of-freedom robot" have beneficial exploration on a wire rope transmission structure, but cannot be used for a multi-joint mechanical arm, and thus cannot exert the advantages of the wire rope transmission mechanism to a greater extent.

The robot with joints formed by adopting the transmission mechanism directly connected with the motor, the gear reducer and the joint shaft has the cost which is continuously reduced along with the technical progress, but the price becomes an element which restricts the wide application of the robot in the society. Therefore, it is a necessary choice to adopt a new technology to properly reduce the price of the robot so as to better integrate the robot into the society.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a rope drive articulated robot has solved the wire rope transmission of articulated and the problem of arranging.

The technical scheme of the utility model is that:

a rope-driven multi-joint robot is divided into a hand, a wrist, a small arm, an upper arm, a shoulder, a waist and a base, wherein the waist is arranged on the base and is connected with the shoulder through a crankshaft assembly, the shoulder is connected with the upper arm through a rotary joint shaft of the upper arm, and a driven wheel assembly III drives the upper arm; the upper arm is connected with the small arm through a rotary joint shaft of the small arm, and the driven wheel assembly II drives the small arm; the small arm is connected with the wrist through a rotary joint shaft of the wrist, and the driven wheel assembly I drives the wrist; the wrist passes through the rotary joint axle to be connected with the hand, forms a plurality of joints between each part of interconnect, and articulated rope transmission unit passes through the flexible rope and is connected with one or more than two of waist, shoulder, upper arm, forearm, wrist, hand respectively, and the flexible rope through each part is: the wrist flexible rope, the forearm flexible rope, the upper arm flexible rope, the shoulder flexible rope and the waist flexible rope form a rope-driven multi-joint robot.

The rope-driven multi-joint robot, the wrist comprising: wrist front portion, hole circlip, wrist flexible rope I, wrist round pin axle I, rolling axle sleeve, antifriction bearing, hollow shaft, wrist flexible rope II, solid axle, antifriction bearing, hole circlip, rotary joint axle, key, drive semi-axis, driven semi-axis, wrist round pin axle II, rolling axle sleeve, wrist rear portion, nut, top base, lower base, top base shaft hole, lower base shaft hole, concrete structure as follows:

the wrist part comprises a wrist front part and a wrist rear part, the wrist front part is of a frame structure, a rotary joint shaft is arranged in the frame structure, one end of the rotary joint shaft extends to the outer side of the frame structure, and the rotary joint shaft is connected with a key slot hole of a hand and locked by a nut; the upper part and the lower part of the front part of the wrist are respectively provided with an upper base and a lower base, the upper base is provided with a hollow shaft, the lower base is provided with a solid shaft, and the solid shaft is in key connection with the lower base; the hollow shaft and the solid shaft are concentric, and the axes of the hollow shaft and the solid shaft are vertical to the axis of the rotary joint shaft; the rear part of the wrist is of a U-shaped structure, the end part of the U-shaped structure is respectively provided with an upper base shaft hole and a lower base shaft hole, the upper base shaft hole and the lower base shaft hole are oppositely arranged, and a driving half shaft and a driven half shaft are respectively arranged on two sides of a root shaft hole of the U-shaped structure; the upper shaft and the lower shaft of the base respectively penetrate through corresponding shaft holes at one end of the rear part of the wrist, a hollow shaft of the upper base penetrates through the shaft hole of the upper base, and a solid shaft of the lower base penetrates through the shaft hole of the lower base; the root part of the rear part of the wrist is connected with the front end of the small arm and is connected with a driven half shaft key by a driven wheel assembly I arranged outside the small arm, and the rear part of the wrist is driven by the driven wheel assembly I;

the hollow shaft is in transmission connection with the shaft hole of the upper base through a rolling bearing, the rolling bearing is arranged on the hollow shaft, and the outer side of the rolling bearing is positioned by an elastic check ring for the hole; one end of the wrist flexible rope I penetrates through the hollow shaft and is wound on the rotary joint shaft, and the other end of the wrist flexible rope I extends into the forearm along a wrist pin shaft I and a rolling shaft sleeve which are used in a matched mode; the rotary joint shaft is driven by the wrist flexible rope I, and when the wrist flexible rope I acts, hands synchronously rotate;

the solid shaft is in transmission connection with the shaft hole of the lower base through a rolling bearing, the rolling bearing is installed in the shaft hole of the lower base, and the outer side of the rolling bearing is positioned by an elastic check ring for holes; one end of the wrist flexible rope II is wound on a grooved pulley of the solid shaft, and the other end of the wrist flexible rope II extends into the small arm along a wrist pin shaft II and a rolling shaft sleeve which are used in a matched mode; the solid shaft is driven by the wrist flexible rope II, and the wrist flexible rope II acts to drive the solid shaft to swing left and right.

Rope drive articulated robot, the front end shaft hole at wrist rear portion: axis and rear end semi-axis in upper base shaft hole, lower base shaft hole: the axes of the driving half shaft and the driven half shaft are vertical, the driving half shaft and the driven half shaft at the rear part of the wrist respectively penetrate through an inner hole of a rolling bearing at the front part of the upper forearm side plate of the forearm, the outer side of the bearing is positioned by an elastic retainer ring, the half shaft at the rear part of the wrist is connected through a key, the driving half shaft and the driven half shaft at the rear part of the wrist are connected through a wrist pin shaft I, and a rolling shaft; the back part of the wrist is provided with a shaft hole, a wrist pin shaft II is arranged in the shaft hole, and a rolling shaft sleeve is arranged outside the wrist pin shaft II.

The rope drives the multi-joint robot, a fixed pin is arranged in a wheel groove of the driven wheel assembly I, the flexible rope is wound on the fixed pin of the driven wheel assembly I, and meanwhile, the flexible rope is tightly extruded with the side wall of the wheel groove of the driven wheel assembly I through a gasket and the fixed pin; the structures of the driven wheel assembly II, the driven wheel assembly III and the driven wheel assembly IV are the same as the structures of the driven wheel assembly II, the driven wheel assembly III and the driven wheel assembly IV.

The rope drives the multi-joint robot, the small arm adopts an integral structure or a split structure, the small arm is hollow, the small arm consists of a small arm base plate and small arm side plates on two sides of the small arm base plate, and the small arm base plate and the small arm side plates are connected and fastened through screws; the front portion of forearm curb plate is equipped with antifriction bearing, and antifriction bearing passes through circlip location, the semi-axis at wrist rear portion: the driving half shaft and the driven half shaft are arranged in an inner hole of the rolling bearing; a key groove is formed in a shaft hole in one side of the rear part of the small arm side plate and is connected with the driving half shaft through a key; a driven half shaft is assembled in a unthreaded hole on the other side of the rear part of the small arm side plate, a driven wheel assembly II arranged on the outer side of the upper arm is in key connection with the driven half shaft, and the small arm is driven by the driven wheel assembly II; the small arm side plate is provided with a shaft hole, a small arm pin shaft I is arranged in the shaft hole, a small arm rolling shaft sleeve I is arranged on the outer side of the small arm pin shaft I, and the small arm pin shaft I and the small arm rolling shaft sleeve I are matched for use; the small arm side plates at the two sides of the small arm base plate are provided with long holes, small arm pin shafts II are arranged in the long holes, small arm rolling shaft sleeves II are arranged on the outer sides of the small arm pin shafts II, and the small arm pin shafts II are matched with the small arm rolling shaft sleeves II for use; and a driven half shaft and a driving half shaft of the small arm side plate are connected through a small arm pin shaft III, and a small arm rolling shaft sleeve III is arranged outside the small arm pin shaft III.

Rope drive articulated robot, the upper arm adopts the structure of two segmentations, this upper arm branch anterior segment and back end, the one end of upper arm anterior segment is equipped with the shaft hole, connects forearm rear portion semi-axis: the other end of the front section of the upper arm is connected with a rotary joint shaft, pin holes are uniformly distributed on the circumference of the rotary joint shaft, a transmission pin is arranged in each pin hole, the other half of the transmission pin extends into a corresponding hole of the front section of the upper arm, and the part of the rotary joint shaft extending into the front section of the upper arm is locked by a nut; the side surface of the front section of the upper arm is provided with a shaft hole, an upper arm pin shaft II and an upper arm pin shaft III are arranged in the shaft hole, an upper arm rolling shaft sleeve II and an upper arm rolling shaft sleeve III are respectively arranged on the outer sides of the upper arm pin shaft II and the upper arm pin shaft III, the upper arm pin shaft II is matched with the upper arm rolling shaft sleeve II for use, and the upper arm pin shaft III is matched with the upper arm rolling shaft sleeve;

the upper arm rear section consists of a rotary joint unit and an upper arm base, wherein one end of the upper arm rear section is provided with the rotary joint unit, and a rotary joint shaft of the rotary joint unit is a hollow shaft; the upper side surface of the upper arm base is provided with a base which is fastened on the upper arm base through a screw; the base is provided with a hole, an upper arm pin shaft IV is arranged in the hole, an upper arm rolling shaft sleeve IV is arranged on the outer side of the upper arm pin shaft IV, and the upper arm pin shaft IV is matched with the upper arm rolling shaft sleeve IV for use; the other end of the rear section of the upper arm is provided with a shaft hole, a driving half shaft and a driven half shaft are respectively arranged on two sides of the rear section of the upper arm, the driving half shaft and the driven half shaft are connected with the shaft hole through keys, a driven wheel arranged on the outer side of the shoulder is connected with the driven half shaft through keys, and the upper arm is driven by the driven wheel; an upper arm pin shaft I is arranged between the driving half shaft and the driven half shaft, and an upper arm rolling shaft sleeve I is arranged outside the upper arm pin shaft I.

The shoulder part of the rope-driven multi-joint robot consists of a shoulder component, a crankshaft component, a flexible rope guide seat component, a base component, a driven wheel component IV, a shaft end check ring and a screw, wherein the crankshaft component and the flexible rope guide seat component are arranged on the base component;

the base component is composed of a steel ball guide unit, a base component and an elastic check ring for a hole, the base component adopts a split structure and is composed of a base, a bearing bush and a screw, and a groove is integrally formed in a shaft hole formed by the base and the bearing bush to accommodate the elastic check ring; the split structure of the base component is convenient for mounting the crankshaft component, a hole is formed in the bottom surface of the base, and a steel ball guide unit II is mounted in the hole;

the steel ball guide unit II is formed by clamping a steel ball by a two-side-plate raceway base I and a raceway base II, the centers of the raceway base I and the raceway base II are provided with holes, spherical raceways are arranged on the inner surfaces of the raceway base I and the raceway base II to contain the steel ball, and the two-side-plate raceway base I and the raceway base II are fastened through screws; the structural size of the steel ball guide unit I is the same as that of the steel ball guide unit II;

the flexible rope guide seat assembly comprises a shoulder rolling shaft sleeve III, a shoulder pin shaft III and a guide seat, the shoulder pin shaft III in different layers is arranged on the guide seat according to different flexible rope groups, and the shoulder rolling shaft sleeve III is arranged outside the shoulder pin shaft III;

the crankshaft assembly consists of a screw, a flange, a crankshaft, a bearing, a shoulder pin shaft II, a shoulder rolling shaft sleeve II and a key, wherein one end of the crankshaft is of a solid structure, and a driven wheel assembly IV is arranged on the outer side of the crankshaft; the other end of the crankshaft is of a hollow structure, a hole is formed in the circumferential surface of the corresponding axial position, a shoulder pin shaft II is arranged in the hole, a shoulder rolling shaft sleeve II is arranged outside the shoulder pin shaft II, and the shoulder pin shaft II is matched with the shoulder rolling shaft sleeve II for use; the flange is connected with the crankshaft by adopting a key at the hollow structure end of the crankshaft, locked by a screw and connected with the shoulder assembly by the flange; the part of the outer side of the crankshaft is matched with the base part and is provided with a bearing;

the shoulder group adopts a U-shaped shoulder, two side plates of the shoulder are provided with holes for mounting a bearing and a circlip for the hole which are used in a matched way, and the shoulder group is connected with the upper arm; a transverse pin shaft and a shoulder pin shaft I are mounted on one side plate of the shoulder, a shoulder rolling shaft sleeve I is arranged outside the shoulder pin shaft I, and the shoulder pin shaft I is matched with the shoulder rolling shaft sleeve I for use; a shaft sleeve is arranged outside the transverse pin shaft, and the transverse pin shaft is matched with the shaft sleeve for use; the transverse pin shaft is perpendicular to the axis of the shoulder pin shaft I, a hole is formed in a bottom plate of the shoulder, and a steel ball guide unit I is arranged in the hole.

The waist of the rope-driven multi-joint robot consists of a rolling bearing, a stepped shaft, a thrust bearing, a steel frame assembly, a cylinder driving unit I, a cylinder driving unit II, a top plate and a bottom plate, wherein the steel frame assembly is of a frame structure formed by welding steel plates in a splicing manner, the cylinder driving unit I and the cylinder driving unit II are installed on the steel frame assembly, the cylinder driving unit I is arranged on the outer side of the steel frame assembly, and the cylinder driving unit II is arranged on the inner side of the steel frame assembly; the opening of the top plate corresponds to the opening of the base, and the shoulder part is installed on the top plate through a bolt; a stepped shaft is welded on the bottom plate, the stepped shaft is connected with the base, and a thrust bearing and two rolling bearings are respectively arranged on the stepped shaft;

according to the braking mode of difference, cylinder drive unit I, cylinder drive unit II divide into two kinds: one mode is a flexible rope braking mode, a brake is added in a flexible rope tensioning mechanism I, the flexible rope is braked in a mode of braking a guide wheel II, the guide wheel I is a free wheel, and a common air cylinder is selected; the other mode is a piston rod braking mode, a locking cylinder with a locking function is selected, a flexible rope tensioning mechanism II is directly used, and the locking cylinder with the locking function realizes braking through a mode of braking a waist flexible rope II.

The rope-driven multi-joint robot comprises a cylinder driving unit I with a brake or a cylinder driving unit II with a brake, wherein the cylinder driving unit I or the cylinder driving unit II with the brake comprises a cylinder seat assembly, a common cylinder, a flexible rope tensioning mechanism I and a flexible rope joint unit;

the cylinder driving unit with the locking bin comprises a cylinder seat assembly, a locking cylinder and a flexible rope tensioning mechanism II, wherein one end of the locking cylinder is installed on the cylinder seat assembly, and the other end of the locking cylinder is provided with the flexible rope tensioning mechanism II;

the flexible rope tensioning mechanism I comprises a guide wheel I, a guide wheel II, a brake and a waist flexible rope I, wherein the brake is arranged on the guide wheel II, and the waist flexible rope I is arranged on the guide wheel I;

the flexible rope tensioning mechanism II comprises a guide wheel I, a guide wheel II and a waist flexible rope I, and the guide wheel I and the guide wheel II are connected through the waist flexible rope I;

the flexible rope joint unit consists of a steel plate, a clamping plate, a waist flexible rope II, a screw and a nut, wherein V-shaped grooves are processed on the upper surface and the lower surface of the steel plate so as to position the waist flexible rope II; a through hole is processed at one end of the steel plate, and a piston rod of the air cylinder penetrates through the through hole and is connected with the flexible rope joint unit; set up splint from top to bottom the other end of steel sheet, it has the splint hole to open on the splint, and the one end of waist flexible rope II passes the splint hole along the V-arrangement groove, and waist flexible rope II passes through splint clamp tightly in the steel sheet, and splint are connected through supporting screw, nut that uses with the steel sheet.

The rope-driven multi-joint robot is characterized in that the base is composed of a base assembly welding piece and a cylinder driving unit III, the lower portion of the base assembly welding piece is a flange face, the base is connected with the base through the flange face, a shaft sleeve is processed on the upper portion of the base assembly welding piece, and the base is connected with a stepped shaft of the waist through the shaft sleeve in a matched mode.

The utility model has the advantages that:

1. the utility model discloses a "steel wire rope drive unit of articulated" technique provides a full rope driven articulated robot, has effectively reduced the cost of robot.

2. The utility model discloses joint robot divides hand, wrist, forearm, upper arm, shoulder, waist, base, and wherein the upper arm adopts two segmentation structures, can do relative rotation. The robot has 8 degrees of freedom, can more fully exert the advantages of steel wire rope transmission, such as high transmission precision, easy arrangement and the like.

3. The utility model discloses utilize advantage with low costs, make this type transmission robot can popularize and apply by a large scale.

Drawings

Fig. 1-2 are schematic structural diagrams of a rope-driven multi-joint robot. Wherein, fig. 1 is a perspective view I; fig. 2 is a perspective view two.

Figure 3 is a schematic view of a winding of a wrist flexible cord.

Figure 4 is a schematic hand view.

Fig. 5(a) - (c) are schematic views of the wrist. Wherein fig. 5(a) is a front view; FIG. 5(b) is a first perspective view; fig. 5(c) is a perspective view ii.

Fig. 6(a) - (b) are schematic views of the front of the wrist. Wherein, fig. 6(a) is a first perspective view; fig. 6(b) is a second perspective view.

Fig. 7 is a schematic view of the back of the wrist.

Fig. 8 is a schematic mechanism diagram of driven wheel assembly i.

FIGS. 9(a) - (b) are schematic diagrams of the lower arm. Wherein, fig. 9(a) is a perspective view; fig. 9(b) is a front view.

Fig. 10(a) - (c) are schematic diagrams of the upper arm. Wherein fig. 10(a) is a front view; FIG. 10(b) is a perspective view; fig. 10(c) is an exploded view.

Fig. 11(a) - (b) are schematic shoulder views. Wherein, fig. 11(a) is a perspective view; fig. 11(b) is a front view.

Fig. 12-16 are schematic views of the shoulder components. Wherein,

FIG. 12 is a schematic view of a base assembly;

FIGS. 13(a) - (b) are schematic views of a steel ball guide unit; wherein, fig. 13(a) is a perspective view; fig. 13(b) is a front view.

FIGS. 14(a) - (b) are schematic views of a flex-cord guide assembly; wherein, fig. 14(a) is a perspective view; fig. 14(b) is a front view.

FIGS. 15(a) - (b) are schematic views of a crankshaft assembly; wherein, fig. 15(a) is a perspective view; fig. 15(b) is a front view.

FIGS. 16(a) - (b) are schematic views of a crankshaft assembly; wherein, fig. 16(a) is a perspective view; fig. 16(b) is a front view.

Fig. 17(a) - (b) are schematic waist views. Wherein fig. 17(a) is a front view; fig. 17(b) is a perspective view.

Fig. 18 is a schematic view of a base.

Fig. 19(a) - (b) are schematic diagrams of a pneumatic drive unit with a brake. Wherein, fig. 19(a) is a first perspective view; fig. 19(b) is a second perspective view.

Fig. 20(a) - (b) are schematic diagrams of pneumatic drive units with locking silos for the cylinders. Wherein, fig. 20(a) is a first perspective view; fig. 20(b) is a second perspective view.

Fig. 21 is a schematic view of a flex rope tensioning mechanism i 653 corresponding to fig. 19.

Fig. 22 is a schematic view of the flex rope tensioning mechanism ii 653A corresponding to fig. 20.

Fig. 23(a) - (b) are schematic views of a flexible cord connector unit. Wherein, fig. 23(a) is a perspective view; fig. 23(b) is a front view.

In the figure, 1 hand; 2a wrist part; 3, a small arm; 4 upper arm; 5, shoulder parts; 6 waist part; 7, a base; 8, driving a wheel assembly I; 9 small arm flexible rope; 10 driven wheel assembly II; 11 shoulder soft rope I; 12, a flexible rope; 13 fixed pins; 14 a gasket; 15 key grooves; 16 cylinders; 17 a key slot hole; 18 driven wheel assembly iii;

21 the anterior part of the wrist; 211 circlips for holes; 2110 wrist flexible rope I; 2111 wrist pin I; 2112 rolling the axle sleeve; 212 a rolling bearing; 213 a hollow shaft; 214 wrist flexible cord II; 215 a solid shaft; 216 a rolling bearing; 217 circlip for hole; 218 a rotary joint shaft; a 219 bond; 221 driving the half shaft; 222 driven half shafts; 223 wrist pin shaft II; 224 a rolling sleeve; 22 the back of the wrist; 23, a nut; 24 an upper base; 25 a lower base; 26, an upper base shaft hole; 27 lower base shaft hole;

301 a small arm side plate; 302 a circlip; 303 a rolling bearing; 304 forearm pin axis i; 305 small arm rolling shaft sleeve I; 306 a forearm pin shaft II; 307 small arm rolling shaft sleeve II; 308 a forearm base plate; 309 small arm pin shaft III; 310 small arm rolling shaft sleeves III; 311 a driven half shaft; 312 drive half shaft; 313 screws;

41, a front section; 42 a rear section; 4211 rotating joint shaft; 4212 drive pins; 4213 upper arm soft rope; 43 a nut; 44 a drive half shaft; 45, a driven half shaft; 46 upper arm pin shaft I; 47 upper arm rolling shaft sleeve I; a 48 bond; 411 upper arm pin shaft II; 412 upper arm rolling sleeve II; 413 upper arm pin III; 414 upper arm rolling shaft sleeve III; 415 a rolling bearing; 416 a circlip; 421 a rotary joint unit; 422 an arm base; 4221 upper arm pin shaft IV; 4222 an upper arm rolling shaft sleeve IV; 4223 a base; 4224 screw;

a 51-shoulder assembly; 511 bearings; 512 holes are used for elastic check rings; 513 a transverse pin shaft; 514 shaft sleeve; 515 shoulder pin shaft i; 516 shoulder rolling shaft sleeve I; 517 steel ball guiding unit I; 518 shoulder; 52a crankshaft assembly; 521, screws; 522 a flange; 523 crankshaft; 524 bearings; 525 shoulder pin shaft II; 526 shoulder rolling shaft sleeve II; a 527 key; 53a flexible cord guide assembly; 531 shoulder rolling bearing sleeves iii; 532 shoulder pin shaft III; 533 a guide seat; 534 shoulder soft rope II; 54 a base member; 541 a steel ball guide unit II; 542 a base assembly; 543 elastic check rings for holes; 5411 screw; 5412 steel ball; 5413 raceway base I; 5414 raceway base II; 5421 a base; 5422 bearing shell; 5423; a screw; 55 driven wheel assembly IV; 56 shaft end retainer rings; 57 a screw;

61 rolling bearings; 62a stepped shaft; 63 a thrust bearing; 64 a steel frame component; 65 cylinder driving unit I; 651 cylinder block assembly; 652a common cylinder; 652A lock-up cylinder; 653, a flexible rope tensioning mechanism I; 6531 leading wheel I; 6532 leading wheel II; 6533 a brake; 653A flexible rope tensioning mechanism II; 653A1 waist soft rope I; 66 cylinder driving units II; 661 cylinder block assembly; 662a common cylinder; 662A lock cylinder; 663 flexible rope joint unit; 6631 steel plate; 6632 clamping plate; 6633 waist soft rope II; 6634 screw; 6635 a nut; 6636 a through hole; 6637 clamping plate holes; 6638V-shaped groove; 67 a top plate; 68 a base plate;

71 base assembly welding; 72 cylinder driving unit III; 73 shaft sleeve; 74 a flange face;

Detailed Description

The present invention will be further explained with reference to the drawings and examples.

As shown in fig. 1 to 23, the rope-driven articulated robot of the present invention is divided into a hand 1, a wrist 2, a forearm 3, an upper arm 4, a shoulder 5, a waist 6 and a base 7, wherein the base 7 is provided with the waist 6, the waist 6 is connected to the shoulder 5 through a crank shaft assembly 52, the shoulder 5 is connected to the upper arm 4 through a rotary joint shaft of the upper arm 4, and the upper arm is driven through a driven wheel assembly iii 18; the upper arm 4 is connected with the small arm 3 through a rotary joint shaft of the small arm 3, and drives the small arm through a driven wheel assembly II 10; the small arm 3 is connected with the wrist part 2 through a rotary joint shaft of the wrist part 2, and the wrist part is driven through a driven wheel component I8; the wrist part 2 is connected with the hand part 1 through a rotary joint shaft, a plurality of joints are formed between each part which is connected with each other, the rope transmission unit of the joints is respectively connected with one or more than two of the waist part 6, the shoulder part 5, the upper arm 4, the forearm 3, the wrist part 2 and the hand part 1 through the flexible rope 12, and the flexible ropes passing through each part are respectively: the multi-joint robot comprises a wrist flexible rope (a wrist flexible rope I2110 and a wrist flexible rope II 214), a forearm flexible rope 9, an upper arm flexible rope 4213, shoulder flexible ropes (a shoulder flexible rope I11 and a shoulder flexible rope II 534), waist flexible ropes (a waist flexible rope I653A 1 and a waist flexible rope II 6633) and the like, and forms a rope-driven multi-joint robot.

The action of each part is driven by a multi-joint rope transmission unit, and the specific structure of the multi-joint rope transmission unit adopts Chinese patent application: "A multi-joint cord drive unit (application number: 201210450779.8)".

As shown in fig. 4, the hand 1 is directly driven by the cylinder 16, and the specific structure of the hand 1 adopts the Chinese patent application: "a manipulator (application No. 201210450764.1)".

As shown in fig. 5(a) - (c), 6(a) - (b) and 7, the wrist 2 includes: the wrist front portion 21, the circlip 211 for the hole, the wrist flexible rope i 2110, the wrist pin shaft i 2111, the rolling shaft sleeve 2112, the rolling bearing 212, the hollow shaft 213, the wrist flexible rope ii 214, the solid shaft 215, the rolling bearing 216, the circlip 217 for the hole, the rotary joint shaft 218, the key 219, the driving half shaft 221, the driven half shaft 222, the wrist pin shaft ii 223, the rolling shaft sleeve 224, the wrist rear portion 22, the nut 23, the upper base 24, the lower base 25, the upper base shaft hole 26, the lower base shaft hole 27 and the like have the following specific structures:

the wrist portion 2 is divided into two parts, which are composed of a wrist front portion 21 and a wrist rear portion 22, and can perform a swing motion and a pitch motion, respectively. The wrist front part 21 is a frame structure, a rotary joint shaft 218 is arranged in the frame structure, one end of the rotary joint shaft 218 extends to the outer side of the frame structure, and the rotary joint shaft 218 is connected with a key slot hole 17 of the hand part 1 and locked by a nut 23; the upper and lower parts of the wrist front portion 21 are respectively an upper base 24 and a lower base 25, the upper base 24 is provided with a hollow shaft 213, the lower base 25 is provided with a solid shaft 215, and the solid shaft 215 is connected with the lower base 25 through a key 219. The hollow shaft 213 is concentric with the solid shaft 215, both axes being perpendicular to the axis of the rotary joint shaft 218. The wrist rear portion 22 is a U-shaped structure, the end portion of the U-shaped structure is provided with an upper base shaft hole 26 and a lower base shaft hole 27 respectively, the upper base shaft hole 26 and the lower base shaft hole 27 are arranged oppositely, and the two sides of the root shaft hole of the U-shaped structure are provided with a driving half shaft 221 and a driven half shaft 222 respectively. The upper and lower shafts of the base respectively pass through the corresponding shaft holes at one end of the wrist rear portion 22, the hollow shaft 213 of the upper base 24 passes through the upper base shaft hole 26, and the solid shaft 215 of the lower base 25 passes through the lower base shaft hole 27. The root of the wrist rear portion 22 is connected to the front end of the arm 3, and is connected to the driven half shaft 222 by a driven wheel assembly i 8 provided outside the arm 3, and the wrist rear portion 22 is driven by the driven wheel assembly i 8 (referred to as a driven wheel for driving a cylinder mounted on the waist, the same applies hereinafter).

The hollow shaft 213 is in transmission connection with the upper base shaft hole 26 through a rolling bearing 212, the rolling bearing 212 is mounted on the hollow shaft 213, and the outer side of the rolling bearing is positioned by a circlip 211 for holes. One end of the wrist flexible cord I2110 penetrates through the hollow shaft 213, the end is wound around the rotary joint shaft 218, and the other end of the wrist flexible cord I2110 extends into the forearm 3 along the wrist pin I2111 and the rolling sleeve 2112 (the rolling sleeve 2112 is sleeved on the wrist pin I2111) which are used in a matching manner. The rotary joint shaft 218 is driven by a wrist flexible rope i 2110 (such as a steel wire rope, the same applies below), and when the wrist flexible rope i 2110 acts, the synchronous rotation of the hand 1 can be realized.

The solid shaft 215 is in transmission connection with the lower base shaft hole 27 through a rolling bearing 216, the rolling bearing 216 is installed in the lower base shaft hole 27, and the outer side of the rolling bearing is positioned by a circlip 217 for holes. One end of the wrist flexible rope II 214 is wound on a grooved pulley of the solid shaft 215, and the other end of the wrist flexible rope II 214 extends into the forearm 3 along a wrist pin shaft II 223 and a rolling shaft sleeve 224 (the rolling shaft sleeve 224 is sleeved on the wrist pin shaft II 223) which are used in a matched mode. The solid shaft 215 is driven by the wrist flexible rope II 214, and the wrist flexible rope II 214 acts to drive the solid shaft 215 to realize left-right swinging.

Wherein, the wrist flexible rope I2110 and the wrist flexible rope II 214 are gathered in the forearm 3.

As shown in fig. 5(a) - (c), fig. 7, and fig. 9(a) - (b), the axes of the front end shaft holes (upper base shaft hole 26, lower base shaft hole 27) of the wrist rear portion 22 are perpendicular to the axes of the rear end half shafts (driving half shaft 221, driven half shaft 222), the driving half shaft 221, driven half shaft 222 of the wrist rear portion 22 pass through the inner holes of the rolling bearings 303 at the front portions of the upper and lower arm side plates 301 of the lower arm 3, respectively, and the outer sides of the bearings are positioned by the circlips 302. The half-shafts of the wrist rear portion 22 are keyed (the same applies below). In order to increase the overall rigidity, the driving half shaft 221 and the driven half shaft 222 of the wrist rear portion 22 are connected through a wrist pin shaft I2111, and a plurality of rolling shaft sleeves 2112 are arranged outside the wrist pin shaft I2111 to play a role in guiding the flexible rope (corresponding parts of the small arm and the upper arm also adopt the structure, and are not described again). The back part 22 of the wrist is provided with a plurality of shaft holes, the shaft holes are provided with wrist pin shafts II 223, and the outer sides of the wrist pin shafts II 223 are provided with rolling shaft sleeves 224 for guiding the wrist flexible ropes (the wrist flexible ropes I2110 and the wrist flexible ropes II 214).

As shown in figure 8, from the fixed connection structure of driven wheel subassembly I8 and articulated rope transmission unit, set up fixed pin 13 in the race of driven wheel subassembly I8, the flexible rope 12 of articulated rope transmission unit twines on fixed pin 13 of driven wheel subassembly I8, and the flexible rope passes through gasket 14, fixed pin 13 and the race lateral wall of driven wheel subassembly I8 and crowds tightly simultaneously, has just so reliably guaranteed that wire rope does not have relative motion with from between the driven wheel subassembly I8. The wire rope can be wound on the driven wheel assembly i 8 for 1 or more turns as needed. The structure has the advantages of minimum axial dimension, concise arrangement and beautiful appearance. The driven wheel assembly II 10, the driven wheel assembly III 18 and the driven wheel assembly IV 55 are similar in structure, and a key groove 15 for driving a driving object (such as a rotary joint) to rotate is arranged in the center of the driven wheel assembly.

As shown in fig. 9(a) - (b), the small arm 3 may take the form of a unitary structure, such as a casting; or a split structure is adopted, such as an assembly part, but in any structure, the basic characteristic is that the inner part is hollow, so that the wrist flexible ropes (the wrist flexible rope I2110 and the wrist flexible rope II 214) and the forearm flexible rope 9 can pass through, and meanwhile, the weight can be reduced (the same applies to the upper arm). The forearm 3 is composed of a forearm base plate 308 and forearm side plates 301 at two sides of the forearm base plate 308, and the forearm base plate 308 and the forearm side plates 301 are connected and fastened through screws 313. The front part of the small arm side plate 301 is provided with a rolling bearing 303, the rolling bearing 303 is positioned through an elastic retainer ring 302, and the half shafts (the driving half shaft 221 and the driven half shaft 222) of the wrist rear part 22 are arranged in an inner hole of the rolling bearing 303; a key groove is formed in a shaft hole in one side of the rear part of the small arm side plate 301 and is connected with the driving half shaft 312 through a key; the driven half shaft 311 is assembled in the other side unthreaded hole in the rear part of the small arm side plate 301, the driven wheel assembly II 10 arranged on the outer side of the upper arm 4 is in key connection with the driven half shaft 311, and the small arm 3 is driven by the driven wheel assembly II 10. A plurality of shaft holes are formed in the forearm side plate 301, a forearm pin shaft I304 is installed in each shaft hole, a forearm rolling shaft sleeve I305 is installed on the outer side of the forearm pin shaft I304, and the forearm pin shaft I304 is matched with the forearm rolling shaft sleeve I305 for use; the forearm side plate 301 at the two sides of the forearm base plate 308 is provided with a long hole, the long hole is provided with a forearm pin shaft II 306, the outer side of the forearm pin shaft II 306 is provided with a forearm rolling shaft sleeve II 307, and the forearm pin shaft II 306 is matched with the forearm rolling shaft sleeve II 307 for use; the driven half shaft 311 and the driving half shaft 312 of the small arm side plate 301 are connected through a small arm pin shaft III 309, and a plurality of small arm rolling shaft sleeves III 310 are arranged outside the small arm pin shaft III 309 to play a role in guiding a flexible rope. The axes of the small arm pin shaft I304 and the small arm pin shaft III 309 are parallel, and the axes of the small arm pin shaft I304 and the small arm pin shaft III 309 are vertical to the axis of the small arm pin shaft II 306.

As shown in fig. 10(a) - (c), the upper arm 4 may be constructed in the same manner as the lower arm 3, but that would reduce one degree of freedom and thereby lose flexibility (depending on the work object). In order to make the robot working range wider, adaptability is stronger, also has more flexibility, imitates the activity function of human upper arm, the utility model discloses the upper arm 4 of robot adopts the structure of two segmentations, and this upper arm 4 divides anterior segment 41 and back end 42, has increased a degree of freedom promptly.

One end of the upper arm forepart 41 is provided with a shaft hole, the shaft hole is internally provided with a rolling bearing 415 and an elastic retainer ring 416 which are matched with each other for use so as to be connected with a rear half shaft (a driven half shaft 311 and a driving half shaft 312) of the small arm 3, the other end of the upper arm forepart 41 is connected with a rotary

joint shaft

4211, 3 pin holes are uniformly distributed on the circumference of the rotary joint shaft 4211, a transmission pin 4212 is arranged in each pin hole, the other half part of the transmission pin 4212 extends into a corresponding hole of the upper arm forepart 41 so as to transmit torque, and the part of the rotary joint shaft 4211 extending into the. The side surface of the upper arm front section 41 is provided with a plurality of shaft holes, an upper arm pin shaft II 411 and an upper arm pin shaft III 413 are arranged in the shaft holes, an upper arm rolling shaft sleeve II 412 and an upper arm rolling shaft sleeve III 414 are respectively arranged on the outer sides of the upper arm pin shaft II 411 and the upper arm pin shaft III 413, the upper arm pin shaft II 411 is matched with the upper arm rolling shaft sleeve II 412 for use, the upper arm pin shaft III 413 is matched with the upper arm rolling shaft sleeve III 414 for use, and the axes of the upper arm pin shaft II 411 and the upper arm pin shaft III 413 are vertical to guide a wrist flexible rope (a wrist flexible rope I2110 and a wrist flexible rope II 214).

The upper arm rear section 42 is composed of a rotary joint unit 421 and an upper arm base 422, the rotary joint unit 421 is mounted at one end of the upper arm rear section 42, and a rotary joint shaft 4211 of the rotary joint unit 421 is a hollow shaft so that a wrist flexible rope (a wrist flexible rope i 2110 and a wrist flexible rope ii 214), a forearm flexible rope 9 and an upper arm flexible rope 4213 pass through. A base 4223 is arranged on the upper side surface of the upper arm base 422, and the base 4223 is fastened on the upper arm base 422 through a screw 4224; the base 4223 is provided with a hole, an upper arm pin shaft IV 4221 is arranged in the hole, an upper arm rolling shaft sleeve IV 4222 is arranged on the outer side of the upper arm pin shaft IV 4221, and the upper arm pin shaft IV 4221 is matched with the upper arm rolling shaft sleeve IV 4222 for use so as to guide a wrist flexible rope (a wrist flexible rope I2110 and a wrist flexible rope II 214), a small arm flexible rope 9 and an upper arm flexible rope 4213. The other end of the upper arm rear section 42 is provided with a shaft hole, a driving half shaft 44 and a driven half shaft 45 are respectively arranged on two sides of the upper arm rear section, the driving half shaft 44 and the driven half shaft 45 are connected with the shaft hole through a key 48, a driven wheel arranged on the outer side of the shoulder part 5 is connected with the driven half shaft 45 in a key mode, and the upper arm 4 is driven by the driven wheel. An upper arm pin shaft I46 is arranged between the driving half shaft 44 and the driven half shaft 45, and a plurality of upper arm rolling shaft sleeves I47 are arranged outside the upper arm pin shaft I46 to guide the wrist flexible ropes (the wrist flexible rope I2110 and the wrist flexible rope II 214), the small arm flexible rope 9 and the upper arm flexible rope 4213.

As shown in fig. 11(a), the shoulder 5 is composed of a shoulder assembly 51, a crank assembly 52, a flexible cord guide assembly 53, a base assembly 54, a driven wheel assembly iv 55, a shaft end retainer 56 and a screw 57, wherein the crank assembly 52 and the flexible cord guide assembly 53 are mounted on the base assembly 54, two ends of the crank assembly 52 penetrate through the base assembly 54 to be respectively connected with the shoulder assembly 51 and the driven wheel assembly iv 55, the driven wheel assembly iv 55 is positioned by the shaft end retainer 56, the screw 57 is locked, and the shaft end retainer 56 and the screw 57 are matched for use.

As shown in fig. 11(b), 12, and 13(a) - (b), the base member 54 is composed of a ball guide unit 541, a base member 542, and a circlip 543 for hole, the base member 542 is a split structure, and is composed of a base 5421, a bush 5422, and a screw 5423, and a groove is integrally formed in a shaft hole formed by the base 5421 and the bush 5422 to accommodate the circlip 543. The split structure of the base component 542 facilitates installation of the crankshaft component 52, a hole is formed in the bottom surface of the base 5421, and a steel ball guide unit II 541 is installed in the hole to facilitate passing of the wrist flexible rope (the wrist flexible rope I2110 and the wrist flexible rope II 214), the forearm flexible rope 9, the upper arm flexible rope 4213 and the shoulder flexible rope I11.

As shown in fig. 13(a) - (b), the steel ball guide unit ii 541 is composed of two side plate raceway bases i 5413 and ii 5414 sandwiching a plurality of steel balls, the centers of the raceway bases i 5413 and ii 5414 are provided with holes, the inner surfaces of the raceway bases i 5413 and ii 5414 are provided with spherical raceways for accommodating the steel balls 5412, and the two side plate raceway bases i 5413 and ii 5414 are fastened by screws 5411. The structural size of the steel ball guide unit I517 is the same as that of the steel ball guide unit II 541.

As shown in fig. 14(a) - (b), the flexible cord guide base assembly 53 includes shoulder rolling axle sleeves iii 531, shoulder pin axles iii 532, and guide bases 533, the flexible cord guide base assembly 53 sets the shoulder pin axles iii 532 in different levels on the guide bases 533 according to different flexible cord sets (each set of flexible cords corresponds to one cylinder to drive different joints), and the shoulder pin axles iii 532 are externally provided with a plurality of shoulder rolling axle sleeves iii 531 to facilitate the transmission of the wrist flexible cords (wrist flexible cord i 2110, wrist flexible cord ii 214), the forearm flexible cord 9, the upper arm flexible cord 4213, the shoulder flexible cord i 11, and the shoulder flexible cord ii 534.

As shown in fig. 15(a) - (b), the crankshaft assembly 52 is composed of a screw 521, a flange 522, a crankshaft 523, a bearing 524, a shoulder pin shaft ii 525, a shoulder rolling shaft sleeve ii 526, a key 527 and the like, one end of the crankshaft 523 is of a solid structure, and a driven wheel assembly iv 55 is installed outside the crankshaft 523; the other end of the crankshaft 523 is of a hollow structure, a hole is formed in the circumferential surface of the corresponding axial part, a shoulder pin shaft II 525 is arranged in the hole, a shoulder rolling shaft sleeve II 526 is arranged outside the shoulder pin shaft II 525, and the shoulder pin shaft II 525 and the shoulder rolling shaft sleeve II 526 are matched for use. The flange 522 is connected with the crankshaft 523 by a key 527 at the hollow structure end of the crankshaft 523, locked by a screw 521, and connected with the shoulder assembly 51 through the flange 522. A bearing 524 is attached to a portion of the outer side of the crankshaft 523, which is fitted to the base member 54 (a shaft hole formed by the base 5421 and the bearing 5422).

As shown in fig. 16(a) - (b), the shoulder set 51 is a U-shaped shoulder 518, and both side plates of the shoulder 518 are provided with holes for installing the bearing 511 and the circlip 512 used for holes and connected with the upper arm 4; a transverse pin 513 and a shoulder pin I515 are mounted on one side plate of the shoulder 518, a shoulder rolling shaft sleeve I516 is arranged outside the shoulder pin I515, and the shoulder pin I515 is matched with the shoulder rolling shaft sleeve I516 for use; a shaft sleeve 514 is arranged outside the transverse pin 513, and the transverse pin 513 is matched with the shaft sleeve 514 for use; the transverse pin 513 is perpendicular to the axis of the shoulder pin shaft I515. The bottom plate of shoulder 518 trompil, downthehole steel ball guide unit I517 that is equipped with.

As shown in fig. 17(a) - (b), the waist portion 6 is composed of a rolling bearing 61, a stepped shaft 62, a thrust bearing 63, a steel frame assembly 64, a cylinder driving unit i 65, a cylinder driving unit ii 66, a top plate 67, a bottom plate 68, etc., the steel frame assembly 64 is a frame structure formed by welding steel plates, a stud is welded on the steel frame assembly 64, and a unthreaded hole is processed to mount the cylinder driving unit i 65 and the cylinder driving unit ii 66, the cylinder driving unit i 65 is arranged on the outer side of the steel frame assembly 64, and the cylinder driving unit ii 66 is arranged on the inner side of the steel frame assembly 64; the opening of the top plate 67 corresponds to the opening of the base 5421, so that a wrist flexible rope (a wrist flexible rope I2110 and a wrist flexible rope II 214), a forearm flexible rope 9, an upper arm flexible rope 4213, shoulder flexible ropes (a shoulder flexible rope I11 and a shoulder flexible rope II 534) and a waist flexible rope (a waist flexible rope I653A 1 and a waist flexible rope II 6633) can pass through the opening, and the shoulder 5 is installed on the top plate 67 through a bolt; the bottom plate 68 is welded with a stepped shaft 62, the stepped shaft 62 is connected with the base 1, and a thrust bearing 63 and two rolling bearings 61 are respectively arranged on the stepped shaft to bear loads in different directions.

According to different braking modes, the air cylinder driving unit I65 and the air cylinder driving unit II 66 are divided into two types. One mode is a flexible rope braking mode, namely a brake 6533 is added in a flexible rope tensioning mechanism I653, the flexible rope is braked by a braking guide wheel II 6532, a guide wheel I6531 is a free wheel, and at the moment, only ordinary air cylinders 652 and 662 (shown in figure 19) are needed; the other mode is a piston rod braking mode, only locking

air cylinders

652A and 662A with locking functions are needed, the flexible rope tensioning mechanism I653 does not need the brake 6533, and the flexible rope tensioning mechanism II 653A is directly used. At this time, the

lock cylinders

652A, 662A with the lock function perform braking by braking the waist flexible cord i 653a1 (see fig. 22).

As shown in fig. 19(a), the brake-equipped cylinder driving unit i 65 includes a cylinder block assembly 651, a normal cylinder 652, a flexible cord tensioning mechanism i 653, and a flexible cord joint unit 663, wherein one end of the normal cylinder 652 is mounted to the cylinder block assembly 651, and the other end of the normal cylinder 652 is mounted with the flexible cord tensioning mechanism i 653 through the flexible cord joint unit 663.

As shown in fig. 19(b), the brake-equipped cylinder driving unit ii 66 includes a cylinder block assembly 661, a normal cylinder 662, a flexible rope joint unit 663, and a flexible rope tensioning mechanism i 653, wherein one end of the normal cylinder 662 is mounted to the cylinder block assembly 661, and the other end of the normal cylinder 662 is mounted to the flexible rope tensioning mechanism i 653 through the flexible rope joint unit 663.

As shown in fig. 20(a), the cylinder driving unit with a locking chamber in the cylinder includes a cylinder block assembly 651, a locking cylinder 652A, and a flexible cord tensioning mechanism ii 653A, wherein one end of the locking cylinder 652A is mounted to the cylinder block assembly 651, and the other end of the locking cylinder 652A is mounted to the flexible cord tensioning mechanism ii 653A.

As shown in fig. 20(b), the cylinder driving unit with a locking chamber of the cylinder includes a cylinder block assembly 661, a locking cylinder 662A, and a flexible cord tensioning mechanism ii 653A, wherein one end of the locking cylinder 662A is mounted on the cylinder block assembly 661, and the other end of the normal cylinder 662 is mounted on the flexible cord tensioning mechanism ii 653A.

As shown in fig. 21, the flexible rope tensioning mechanism i 653 comprises a guide wheel i 6531, a guide wheel ii 6532, a brake 6533 and a waist flexible rope i 653a1, wherein the brake 6533 is mounted on the guide wheel ii 6532, and the waist flexible rope i 653a1 is mounted on the guide wheel i 6531.

As shown in fig. 22, the flexible rope tensioning mechanism ii 653A comprises a guide wheel i 6531, a guide wheel ii 6532 and a waist flexible rope i 653A1, wherein the guide wheel i 6531 and the guide wheel ii 6532 are connected through the waist flexible rope i 653A 1.

As shown in fig. 23(a) - (b), the flexible rope joint unit 663 is composed of a steel plate 6631, a clamping plate 6632, a waist flexible rope ii 6633, a screw 6634, a nut 6635 and the like, wherein the upper and lower surfaces of the steel plate 6631 are processed with V-shaped grooves 6638 for positioning the waist flexible rope ii 6633; a through hole 6636 is processed at one end of the steel plate 6631, and a piston rod of the air cylinder penetrates through the through hole 6636 to be connected with the flexible rope joint unit 663; the other end of the steel plate 6631 is provided with a clamping plate 6632 up and down, the clamping plate 6632 is provided with a clamping plate hole 6637, one end of the waist flexible rope II 6633 passes through the clamping plate hole 6637 along the V-shaped groove 6638, the waist flexible rope II 6633 is clamped on the steel plate 6631 through the clamping plate 6632, and the clamping plate 6632 is connected with the steel plate 6631 through a matched screw 6634 and a nut 6635.

As shown in fig. 18, the base 7 is composed of a base assembly welding member 71 and a cylinder driving unit iii 72. The lower part of the base assembly welding piece 71 is provided with a flange surface 74, the base 7 is connected with the base through the flange surface 74, the upper part of the base assembly welding piece 71 is provided with a shaft sleeve 73, and the base 7 is matched and connected with the stepped shaft 62 of the waist part 6 through the shaft sleeve 73. The structure of the cylinder driving unit III 72 is the same as that of the cylinder driving unit I65 and the cylinder driving unit II 66.

Under the action of the pneumatic driving unit, the rotation parts of the robot can realize linkage and independent action. See in particular "a multi-joint wire rope transmission unit". If the sensor is adopted to detect the rotation angle of each shaft and feed back, the action of the robot can be accurately controlled under the action of the control system.

In fact, for the driving unit, besides pneumatic and hydraulic driving, the motor and the motor can be directly selected for driving, so that for the robot, the power source can be flexibly arranged at the base and the like, the extra weight of the mechanical arm is reduced, and the capacity of doing work externally is improved under the same condition.

The utility model discloses in, the preferred wire rope of flexible rope, but not the restriction is wire rope, also can be the rope of other materials (like non-metallic material).

Claims

1. A rope-driven multi-joint robot is characterized by comprising a hand, a wrist, a small arm, an upper arm, a shoulder, a waist and a base, wherein the waist is arranged on the base and is connected with the shoulder through a crankshaft assembly; the upper arm is connected with the small arm through a rotary joint shaft of the small arm, and the driven wheel assembly II drives the small arm; the small arm is connected with the wrist through a rotary joint shaft of the wrist, and the driven wheel assembly I drives the wrist; the wrist passes through the rotary joint axle to be connected with the hand, forms a plurality of joints between each part of interconnect, and articulated rope transmission unit passes through the flexible rope and is connected with one or more than two of waist, shoulder, upper arm, forearm, wrist, hand respectively, and the flexible rope through each part is: the wrist flexible rope, the forearm flexible rope, the upper arm flexible rope, the shoulder flexible rope and the waist flexible rope form a rope-driven multi-joint robot.

2. The rope-driven articulated robot of claim 1, wherein the wrist comprises: wrist front portion, hole circlip, wrist flexible rope I, wrist round pin axle I, rolling axle sleeve, antifriction bearing, hollow shaft, wrist flexible rope II, solid axle, antifriction bearing, hole circlip, rotary joint axle, key, drive semi-axis, driven semi-axis, wrist round pin axle II, rolling axle sleeve, wrist rear portion, nut, top base, lower base, top base shaft hole, lower base shaft hole, concrete structure as follows:

3. The rope-driven articulated robot of claim 2, wherein the front-end shaft hole at the back of the wrist: axis and rear end semi-axis in upper base shaft hole, lower base shaft hole: the axes of the driving half shaft and the driven half shaft are vertical, the driving half shaft and the driven half shaft at the rear part of the wrist respectively penetrate through an inner hole of a rolling bearing at the front part of the upper forearm side plate of the forearm, the outer side of the bearing is positioned by an elastic retainer ring, the half shaft at the rear part of the wrist is connected through a key, the driving half shaft and the driven half shaft at the rear part of the wrist are connected through a wrist pin shaft I, and a rolling shaft; the back part of the wrist is provided with a shaft hole, a wrist pin shaft II is arranged in the shaft hole, and a rolling shaft sleeve is arranged outside the wrist pin shaft II.

4. The rope-driven multi-joint robot as claimed in claim 1, wherein a fixed pin is provided in the race of the driven wheel assembly i, the flexible rope is wound around the fixed pin of the driven wheel assembly i, and the flexible rope is squeezed tightly with the race side wall of the driven wheel assembly i through a spacer and the fixed pin; the structures of the driven wheel assembly II, the driven wheel assembly III and the driven wheel assembly IV are the same as the structures of the driven wheel assembly II, the driven wheel assembly III and the driven wheel assembly IV.

5. The rope-driven multi-joint robot as claimed in claim 1, wherein the forearm is of an integral structure or a split structure, the forearm is hollow, the forearm is composed of a forearm base plate and forearm side plates at two sides of the forearm base plate, and the forearm base plate and the forearm side plates are fastened through screw connection; the front portion of forearm curb plate is equipped with antifriction bearing, and antifriction bearing passes through circlip location, the semi-axis at wrist rear portion: the driving half shaft and the driven half shaft are arranged in an inner hole of the rolling bearing; a key groove is formed in a shaft hole in one side of the rear part of the small arm side plate and is connected with the driving half shaft through a key; a driven half shaft is assembled in a unthreaded hole on the other side of the rear part of the small arm side plate, a driven wheel assembly II arranged on the outer side of the upper arm is in key connection with the driven half shaft, and the small arm is driven by the driven wheel assembly II; the small arm side plate is provided with a shaft hole, a small arm pin shaft I is arranged in the shaft hole, a small arm rolling shaft sleeve I is arranged on the outer side of the small arm pin shaft I, and the small arm pin shaft I and the small arm rolling shaft sleeve I are matched for use; the small arm side plates at the two sides of the small arm base plate are provided with long holes, small arm pin shafts II are arranged in the long holes, small arm rolling shaft sleeves II are arranged on the outer sides of the small arm pin shafts II, and the small arm pin shafts II are matched with the small arm rolling shaft sleeves II for use; and a driven half shaft and a driving half shaft of the small arm side plate are connected through a small arm pin shaft III, and a small arm rolling shaft sleeve III is arranged outside the small arm pin shaft III.

6. The rope-driven articulated robot of claim 1, wherein the upper arm is of a two-segment structure, the upper arm is divided into a front segment and a rear segment, one end of the front segment of the upper arm is provided with a shaft hole, and the shaft hole is connected with a rear half shaft of the small arm: the other end of the front section of the upper arm is connected with a rotary joint shaft, pin holes are uniformly distributed on the circumference of the rotary joint shaft, a transmission pin is arranged in each pin hole, the other half of the transmission pin extends into a corresponding hole of the front section of the upper arm, and the part of the rotary joint shaft extending into the front section of the upper arm is locked by a nut; the side surface of the front section of the upper arm is provided with a shaft hole, an upper arm pin shaft II and an upper arm pin shaft III are arranged in the shaft hole, an upper arm rolling shaft sleeve II and an upper arm rolling shaft sleeve III are respectively arranged on the outer sides of the upper arm pin shaft II and the upper arm pin shaft III, the upper arm pin shaft II is matched with the upper arm rolling shaft sleeve II for use, and the upper arm pin shaft III is matched with the upper arm rolling shaft sleeve;

7. The rope-driven articulated robot of claim 1, wherein the shoulder part comprises a shoulder assembly, a crankshaft assembly, a flexible rope guide assembly, a base assembly, a driven wheel assembly IV, a shaft end retainer ring and screws, the crankshaft assembly and the flexible rope guide assembly are mounted on the base assembly, the parts of two ends of the crankshaft assembly, which penetrate through the base assembly, are respectively connected with the shoulder assembly and the driven wheel assembly IV, and the driven wheel assembly IV is positioned by the shaft end retainer ring, locked by the screws and matched with the shaft end retainer ring and the screws;

8. The rope-driven articulated robot of claim 1, wherein the waist part is composed of a rolling bearing, a stepped shaft, a thrust bearing, a steel frame assembly, a cylinder driving unit I, a cylinder driving unit II, a top plate and a bottom plate, the steel frame assembly is a frame structure formed by welding steel plates, the cylinder driving unit I and the cylinder driving unit II are mounted on the steel frame assembly, the cylinder driving unit I is arranged on the outer side of the steel frame assembly, and the cylinder driving unit II is arranged on the inner side of the steel frame assembly; the opening of the top plate corresponds to the opening of the base, and the shoulder part is installed on the top plate through a bolt; a stepped shaft is welded on the bottom plate, the stepped shaft is connected with the base, and a thrust bearing and two rolling bearings are respectively arranged on the stepped shaft;

9. The rope-driven articulated robot of claim 1, wherein the brake-equipped cylinder driving unit i or the brake-equipped cylinder driving unit ii comprises a cylinder block assembly, a normal cylinder, a flexible rope tensioning mechanism i, and a flexible rope joint unit, wherein one end of the normal cylinder is mounted on the cylinder block assembly, and the other end of the normal cylinder is mounted with the flexible rope tensioning mechanism i through the flexible rope joint unit;

10. The rope-driven articulated robot of claim 1, wherein the base is composed of a base assembly and welding member and a cylinder driving unit iii, the lower part of the base assembly and welding member is a flange surface, the base is connected with the base through the flange surface, a shaft sleeve is processed on the upper part of the base assembly and welding member, and the base is connected with the stepped shaft of the waist part through the shaft sleeve in a matching manner.