CN213250921U - Rope-driven exoskeleton mechanical arm length adjusting connecting rod capable of maintaining rope tension constant - Google Patents
Rope-driven exoskeleton mechanical arm length adjusting connecting rod capable of maintaining rope tension constant Download PDFInfo
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- CN213250921U CN213250921U CN202021109245.5U CN202021109245U CN213250921U CN 213250921 U CN213250921 U CN 213250921U CN 202021109245 U CN202021109245 U CN 202021109245U CN 213250921 U CN213250921 U CN 213250921U
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Abstract
The utility model relates to a keep invariable rope tension's rope drive ectoskeleton arm length adjustment connecting rod, including first joint subassembly, second joint subassembly and adjustment mechanism, adjustment mechanism includes movable slide, fixed bolster, and movable slide is relative the second joint connecting rod sliding connection on the second joint subassembly, installs first removal guide pulley, second removal guide pulley on the movable slide, and movable slide installs the regulation guide pulley in one side, and fixed bolster and first joint subassembly fixed connection, the upper end of fixed bolster is installed the tension and is adjusted the end, and the lower extreme of fixed bolster is installed first fixed guide pulley, second fixed guide pulley; the first fixed guide wheel and the first movable guide wheel are used for tensioning a first rope, the second fixed guide wheel and the second movable guide wheel are used for tensioning a second rope, the tension adjusting end is fixed with an adjusting rope, and the other end of the adjusting rope is connected with the upper end of the second joint connecting rod in a protruding mode after bypassing the adjusting guide wheel. Simple structure, the tension keeps invariable along with the change of the length of the connecting rod.
Description
Technical Field
The utility model relates to a recovered robot technical field especially relates to a keep invariable rope of rope tension to drive ectoskeleton arm length adjustment connecting rod.
Background
The rehabilitation robot is used as a medical rehabilitation training device, can help patients with limb movement function loss caused by diseases and accidents to perform rehabilitation training, relieves the rehabilitation doctors from complicated repeated work, and can remarkably improve the rehabilitation effect and efficiency.
In the rehabilitation process, the joint motion center of the exoskeleton rehabilitation robot needs to be aligned with the joint motion center of the arm or leg of the patient, otherwise the rehabilitation training effect is affected and even the patient is injured. In order to adapt to the body types of different patients and effectively assist the rehabilitation of the patients, the length of the connecting rod between the joints of the robot needs to be changed along with the length of the limbs of the patients, however, for the rope driving mechanical arm, the length of the connecting rod is changed, the distance between the rope discs of the fixed rope is changed, if the length of the rope is not changed, the tension on the rope is too low or too high, and the rope driving mechanical arm cannot normally work and power cannot be transmitted through the rope. In order to ensure power transmission, it is required that the joint spacing of the robot arm be varied while a structure is present to keep the tension on the rope between the joints constant.
Most of the existing rope-driven exoskeleton mechanical arms usually choose to avoid the problem, and the length of a connecting rod between joints is designed to be unadjustable, so that the rehabilitation effect of a patient is influenced; the exoskeleton mechanical arm is driven by a few ropes, manual or electric tensioning devices are additionally added, the adjustment of the tension on the ropes is carried out after the length of the mechanical arm connecting rod is adjusted, the scheme can ensure that the tension on the ropes is unchanged, but the operation of driving the exoskeleton mechanical arm by the ropes is complicated, and the structure is more complex. In addition, patent document CN204660392U discloses a rope adaptive length adjustment device, which can realize adaptive adjustment of tension on a rope according to the change of the length of a link of a mechanical arm by introducing a link slider mechanism and a compression spring, and has a simple and compact structure. However, the pressure provided by the compression spring is in a linear relationship with the compression amount of the compression spring, so that the tension on the rope cannot be kept constant but is in a state of changing in a small range along with the change of the length of the connecting rod of the mechanical arm, and the effect of the structure is not ideal for the rope-driven mechanical arm with certain precision requirement.
SUMMERY OF THE UTILITY MODEL
In order to overcome prior art's the aforesaid not enough, the utility model provides a keep invariable rope of rope tension to drive ectoskeleton arm length adjustment connecting rod solves current rope tension and changes along with arm connecting rod length variation, and unable stable transmission power finally causes the technical problem of the unable normal work of arm.
The utility model discloses a realize through following technical scheme:
a rope-driven exoskeleton mechanical arm length adjusting connecting rod capable of maintaining rope tension constant comprises a first joint component, a second joint component and an adjusting mechanism for adjusting the distance between the first joint component and the second joint component, wherein the first joint component comprises a first joint connecting rod connected with a mechanical arm power component and a first joint rope disc fixedly connected with a superior mechanical arm, and the first joint rope disc is coaxially and relatively rotatably connected with a boss at the upper part of the first joint connecting rod; the second joint component comprises a second joint connecting rod and a second joint rope disc fixedly connected with the lower-level mechanical arm, the second joint rope disc is coaxially and relatively rotatably connected with a boss at the lower part of the second joint connecting rod, the first joint rope disc and the second joint rope disc are connected through a first rope and a second rope, the second joint connecting rod is connected with the first joint connecting rod in a sliding way, the adjusting mechanism comprises a movable sliding plate, a fixed bracket and a tension adjusting end, the movable sliding plate is connected with the second joint connecting rod in a sliding way, a first movable guide wheel and a second movable guide wheel are arranged on the movable sliding plate, an adjusting guide wheel is arranged on one side of the movable sliding plate, the fixed bracket is fixedly connected with the first joint connecting rod, the upper end of the fixed support is provided with a tension adjusting end socket, and the lower end of the fixed support is provided with a first fixed guide wheel and a second fixed guide wheel; the first fixed guide wheel and the first movable guide wheel are used for tensioning a first rope, the second fixed guide wheel and the second movable guide wheel are used for tensioning a second rope, the tension adjusting end is fixed with an adjusting rope, and the other end of the adjusting rope is connected with the upper end of the second joint connecting rod in a protruding mode after passing around the adjusting guide wheel.
Further, still including locating fixing mechanism on one side of first joint connecting rod, fixing mechanism includes quick locking handle, quick locking handle passes through behind first joint connecting rod, the second joint connecting rod and locks through fixation nut.
Furthermore, the quick locking handle comprises a pressing handle and a fixing screw rod connected with the pressing handle, the pressing handle is parallel to the side surfaces of the first joint connecting rod and the second joint connecting rod, and the fixing screw rod penetrates through the through holes in the side surfaces of the first joint connecting rod and the second joint connecting rod and then is locked through a fixing nut.
Furthermore, the first joint connecting rod is provided with a first-stage linear guide rail on one side of the boss, the first-stage linear guide rail is arranged along the length direction of the first joint connecting rod, the second joint connecting rod is provided with a first-stage linear sliding block on one side far away from the boss, and the second joint connecting rod is connected with the first joint connecting rod in a sliding mode through the first-stage linear sliding block and the first-stage linear guide rail.
Furthermore, a second-stage linear guide rail is arranged on one side of the boss of the second joint connecting rod, a second-stage linear sliding block is arranged on one side, close to the second joint connecting rod, of the movable sliding plate, and the movable sliding plate is connected with the second-stage linear guide rail in a sliding mode through the second-stage linear sliding block.
Furthermore, the first fixed guide wheel and the second fixed guide wheel are installed along the length direction of the fixed support in a staggered mode.
Furthermore, the first joint rope disc and the second joint rope disc are both provided with an inner rope groove and an outer rope groove.
Furthermore, a through hole for installing an adjusting rope on the tension adjusting end is aligned with a rope groove on the outer side of the adjusting guide wheel.
Furthermore, one end of the first rope is fixed on the first joint rope disc, the other end of the first rope sequentially penetrates through the first fixed guide wheel and the first movable guide wheel and then is connected with the second joint rope disc, the first fixed guide wheel and the first movable guide wheel are installed on the same horizontal plane, the outer rope groove of the first fixed guide wheel is aligned with the inner rope groove of the first movable guide wheel, and the outer rope groove of the first movable guide wheel is aligned with the rope groove of the second joint rope disc.
Furthermore, one end of a second rope is fixed on the first joint rope disc, the other end of the second rope sequentially penetrates through the second fixed guide wheel and the second movable guide wheel and then is connected with the second joint rope disc, the second fixed guide wheel and the second movable guide wheel are installed on the same horizontal plane, the outer side rope groove of the second fixed guide wheel is aligned with the inner side rope groove of the second movable guide wheel, and the outer side rope groove of the second movable guide wheel is aligned with the rope groove of the second joint rope disc.
Compared with the prior art, the beneficial effects of the utility model reside in that:
the utility model provides a rope drives ectoskeleton arm length adjustment connecting rod that keeps rope tension invariable, it is inconvenient to have remedied the length adjustment of the ectoskeleton arm connecting rod of existing rope drive, or adjust and bring the rope tension to change, influence the defect of power transmission between the joints; the application skillfully utilizes the slide block guide rail and the pulley block, so that the tension on the rope is constant in the process of increasing/reducing the length of the connecting rod, the stability of power transmission is ensured, and the rehabilitation training effect of a patient is good; and simple structure, operation convenient to use.
Drawings
Fig. 1 is a schematic perspective view of a length adjustment link of a rope-driven exoskeleton arm for maintaining constant rope tension according to an embodiment of the present invention;
FIG. 2 is an exploded view of FIG. 1;
fig. 3 is a schematic structural view of a rope-driven exoskeleton arm length adjustment link for maintaining constant rope tension after a fixing bracket is detached according to an embodiment of the present invention.
In the figure:
1. a first joint assembly; 101. a first joint link; 102. a first joint cord reel; 103. a primary linear guide rail; 2. a second joint assembly; 201. a second joint link; 202. a second joint cord reel; 203. a first-stage linear slider; 204. a secondary linear guide rail; 205. a protrusion; 3. an adjustment mechanism; 301. a secondary linear slider; 302. moving the sliding plate; 303. a first movable guide wheel; 304. a second movable guide wheel; 305. adjusting the guide wheel; 306. a first fixed guide wheel; 307. a second fixed guide wheel; 308. fixing a bracket; 309. a tension adjusting end; 4. a second rope; 5. a first rope; 6. adjusting the rope; 7. a fixing mechanism; 701. Rapidly locking the handle; 702. and (5) fixing the nut.
Detailed Description
The following examples are presented to illustrate certain embodiments of the invention and should not be construed as limiting the scope of the invention. The present disclosure may be modified from materials, methods, and reaction conditions at the same time, and all such modifications are intended to be within the spirit and scope of the present invention.
As shown in fig. 1-3, the length adjusting link for a rope-driven exoskeleton robot arm maintaining constant rope tension of the present application comprises a first joint component 1, a second joint component 2 and an adjusting mechanism 3 for adjusting the distance between the first joint component 1 and the second joint component 2, wherein the first joint component 1 comprises a first joint link 101 connected with a robot power component and a first joint rope disc 102 fixedly connected with a superior robot arm, and the first joint rope disc 102 is coaxially and relatively rotatably connected with an upper boss of the first joint link 101; the second joint component 2 comprises a second joint connecting rod 201 and a second joint rope disc 202 fixedly connected with a lower-level mechanical arm, the second joint rope disc 202 is coaxially and relatively rotatably connected with a boss at the lower part of the second joint connecting rod 201, the first joint rope disc 102 and the second joint rope disc 202 are connected through a first rope 5 and a second rope 4, and the second joint connecting rod 201 is in sliding connection with the first joint connecting rod 101;
when the mechanical arm power assembly acts, the first joint connecting rod 101 and the second joint connecting rod are driven to rotate, the first joint rope disc 102 keeps static, and at the moment, the second joint rope disc 202 rotates relative to the first joint rope disc 102, so that the lower-level mechanical arm is driven to rotate, and power transmission is achieved.
The adjusting mechanism 3 comprises a movable sliding plate 302, a fixed bracket 308 and a tension adjusting end 309, the movable sliding plate 302 is connected with a second joint connecting rod 201 in a sliding manner, a first movable guide wheel 303 and a second movable guide wheel 304 are mounted on the movable sliding plate 302, an adjusting guide wheel 305 is mounted on a mounting lug on one side of the movable sliding plate 302, the mounting lug is arranged vertically relative to the movable sliding plate 302, the fixed bracket 308 is fixedly connected with the first joint connecting rod 101, the tension adjusting end 309 is mounted at the upper end of the fixed bracket 308, and a first fixed guide wheel 306 and a second fixed guide wheel 307 are mounted at the lower end of the fixed bracket 308 along the length direction in a staggered manner; the first fixed guide wheel 306 and the first movable guide wheel 303 are used for tensioning a first rope 5, the second fixed guide wheel 307 and the second movable guide wheel 304 are used for tensioning a second rope 4, the tension adjusting end 309 is fixed with an adjusting rope 6, and the other end of the adjusting rope 6 passes through the adjusting guide wheel 305 and then is connected with the upper end protrusion 205 of the second joint connecting rod 201.
When the length of the adjusting connecting rod is increased, the second joint connecting rod 201 moves downwards relative to the first joint connecting rod 101, the tension on the first rope 5 tends to increase, the tension on the first rope 5 acts downwards on the first movable guide wheel 303, so that the relative distance between the first movable guide wheel 303 and the first fixed guide wheel 306 is reduced, the tension on the adjusting rope 6 acts upwards on the adjusting guide wheel 305, so that the distance between the adjusting guide wheel 305 and the tension adjusting end 309 is increased, the change amount of the tension is half of the length of the adjusting connecting rod, the total distance from the first connecting rod rope disc 102 to the first movable guide wheel 303 through the first fixed guide wheel 306 and finally to the second joint rope disc 202 is unchanged, and the tension on the first rope 5 is kept unchanged; likewise, the tension on the second rope 4 remains unchanged; when the distance between the second joint connecting rod 201 and the first joint connecting rod 101 is increased, the tension on the adjusting rope 6 acts on the adjusting guide wheel 305 upwards, the distance between the protrusion 205 at the upper end of the second joint connecting rod 201 and the adjusting guide wheel 305 is reduced by half of the increased length of the adjusting connecting rod, so that the total distance from the tension adjusting end 309 to the protrusion 205 at the upper end of the second joint connecting rod 201 around the adjusting guide wheel 305 is unchanged, and the tension on the adjusting rope 6 is unchanged.
When the length of the adjusting connecting rod is reduced, the second joint connecting rod 201 moves upwards relative to the first joint connecting rod 101, the distance between the second joint connecting rod 201 and the first joint connecting rod 101 is reduced, the relative distance between the bulge 205 at the upper end of the second joint connecting rod 201 and the tension adjusting end is reduced, the tension on the adjusting rope 6 acts on the adjusting guide wheel 305, the distance between the adjusting guide wheel 305 and the tension adjusting end 309 is reduced, and the reduced distance is half of the reduced length of the connecting rod, so the total distance from the tension adjusting end 309 to the bulge 205 at the upper end of the second joint connecting rod 201 around the adjusting guide wheel 305 is kept unchanged, and the tension on the adjusting rope 6 is unchanged; meanwhile, the adjusting guide wheel 305 drives the moving slide plate 302 to move upwards, so that the relative distance between the first moving guide wheel 303 and the first fixed guide wheel 306 is increased, the relative distance between the second moving guide wheel 304 and the second fixed guide wheel 307 is increased, the increased distance is half of the reduced length of the adjusting connecting rod, and therefore the total distance from the first connecting rod rope disc 102 to the first moving guide wheel 303 through the first fixed guide wheel 306 and finally to the second articulated rope disc 202 is unchanged, and the tension on the first rope 5 is unchanged. Likewise, the tension on the second rope 4 is also unchanged.
In this embodiment, the fixing mechanism 7 is further included and is disposed on one side of the first joint connecting rod 101, the fixing mechanism 7 includes a quick locking handle 701, and the quick locking handle 701 passes through the first joint connecting rod 101 and the second joint connecting rod 201 and is locked by a fixing nut 702.
After the distance between the first joint connecting rod 101 and the second joint connecting rod 201 is adjusted, the pressing and fixing mechanism 7 fixes the second joint connecting rod 201 and the first joint connecting rod 101, so that the change of the length of the connecting rod and the tension of a rope is avoided when the mechanical arm moves; when the link length needs to be adjusted, the fixing mechanism 7 can be released.
In this embodiment, the quick locking handle 701 includes a pressing handle and a fixing screw connected to the pressing handle, the pressing handle is parallel to the side surfaces of the first joint connecting rod 101 and the second joint connecting rod 201, and the fixing screw passes through the through holes on the side surfaces of the first joint connecting rod 101 and the second joint connecting rod 201 and is locked by the fixing nut 702. The compressing handle is rotated to drive the fixing screw to be matched and locked with the fixing nut 702, so that the second joint connecting rod 201 and the first joint connecting rod 101 are prevented from moving.
In this embodiment, the first joint connecting rod 101 is provided with a first-stage linear guide 103 on one side of the boss, the first-stage linear guide 103 is arranged along the length direction of the first joint connecting rod 101, the second joint connecting rod 201 is provided with a first-stage linear slider 203 on one side far away from the boss, and the second joint connecting rod 201 is connected with the first joint connecting rod 101 in a sliding manner through the first-stage linear slider 203 and the first-stage linear guide 103. When the length of the connecting rod needs to be adjusted, the first-stage linear sliding block 203 on the second joint connecting rod 201 can slide relative to the first-stage linear guide rail 103 on the first joint connecting rod 101 by pulling the second joint connecting rod 201, so that the length of the connecting rod is increased or decreased.
In this embodiment, the second joint connecting rod 201 is provided with a second-stage linear guide 204 on a side of the boss, the moving sliding plate 302 is provided with a second-stage linear slider 301 on a side close to the second joint connecting rod 201, and the moving sliding plate 302 and the second joint connecting rod 201 are slidably connected with the second-stage linear guide 204 through the second-stage linear slider 301. During the process of adjusting the length of the connecting rod to increase/decrease, the movable sliding plate 302 slides relative to the second joint connecting rod 201, and the tension on the first rope 5 and the second rope 4 is adjusted and controlled to be constant.
In this embodiment, the through hole of the tension adjusting terminal 309 for installing the adjusting rope 6 is aligned with the rope groove outside the adjusting guide wheel 305, so as to facilitate installation of the adjusting rope 6.
In this embodiment, the first joint rope reel 102 and the second joint rope reel 202 are both provided with an inner rope groove and an outer rope groove; two ends of the first rope 5 are respectively fixed on the rope grooves of the first joint rope disc 102 and the second joint rope disc 202; the two ends of the second rope 4 are also fixed on the rope grooves of the first joint rope disc 102 and the second joint rope disc 202 respectively.
In this embodiment, one end of the first rope 5 is fixed on the first joint rope pulley 102, the other end of the first rope 5 sequentially passes through the first fixed guide pulley 306 and the first movable guide pulley 303 and then is connected with the second joint rope pulley 202, the first fixed guide pulley 306 and the first movable guide pulley 303 are installed on the same horizontal plane, the outer rope groove of the first fixed guide pulley 306 is aligned with the inner rope groove of the first movable guide pulley 303, and the outer rope groove of the first movable guide pulley 303 is aligned with the rope groove of the second joint rope pulley 202; one end of the first rope 5 is fixed in the inner rope groove of the first joint rope disc 102, passes through the inner side of the first fixed guide wheel 306, winds to the inner side of the first movable guide wheel 303, and is finally fixed in the inner rope groove of the second joint rope disc 202.
In this embodiment, one end of the second rope 4 is fixed on the first joint rope pulley 102, the other end of the second rope 4 passes through a second fixed guide pulley 307 and a second movable guide pulley 304 in sequence and then is connected with the second joint rope pulley 202, the second fixed guide pulley 307 and the second movable guide pulley 304 are installed on the same horizontal plane, the outer rope groove of the second fixed guide pulley 307 is aligned with the inner rope groove of the second movable guide pulley 304, and the outer rope groove of the second movable guide pulley 304 is aligned with the rope groove of the second joint rope pulley 202; the head end of the second rope 4 is fixed to the outer rope groove of the first joint rope reel, passes through the inside of the second fixed guide pulley 307, is wound to the inside of the second movable guide pulley 304, and is finally fixed to the outer rope groove of the second joint rope reel 202.
To sum up, adopt the arm connecting rod of this application can realize the constancy of rope tension, ensure the stable transmission of power between the joint, rehabilitation robot's rehabilitation training effect is good.
The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all utilize the equivalent structure or equivalent flow transformation that the content of the specification does, or directly or indirectly use in other related technical fields, all including in the same way the patent protection scope of the present invention.
Claims (10)
1. A rope-driven exoskeleton mechanical arm length adjusting connecting rod capable of maintaining rope tension constant comprises a first joint assembly (1), a second joint assembly (2) and an adjusting mechanism (3) used for adjusting the distance between the first joint assembly (1) and the second joint assembly (2), wherein the first joint assembly (1) comprises a first joint connecting rod (101) connected with a mechanical arm power assembly and a first joint rope disc (102) fixedly connected with a superior mechanical arm, and the first joint rope disc (102) is coaxially and relatively rotatably connected with a boss at the upper part of the first joint connecting rod (101); the second joint component (2) comprises a second joint connecting rod (201) and a second joint rope disc (202) fixedly connected with a lower-level mechanical arm, the second joint rope disc (202) is coaxially and relatively rotatably connected with a boss at the lower part of the second joint connecting rod (201), the first joint rope disc (102) and the second joint rope disc (202) are connected through a first rope (5) and a second rope (4), the second joint connecting rod (201) is slidably connected with the first joint connecting rod (101), the second joint component is characterized in that the adjusting mechanism (3) comprises a movable sliding plate (302), a fixed support (308) and a tension adjusting end (309), the movable sliding plate (302) is slidably connected with the second joint connecting rod (201), a first movable guide wheel (303) and a second movable guide wheel (304) are installed on the movable sliding plate (302), and an adjusting guide wheel (305) is installed on one side of the movable sliding plate (302), the fixing support (308) is fixedly connected with the first joint connecting rod (101), the upper end of the fixing support (308) is provided with a tension adjusting end (309), and the lower end of the fixing support (308) is provided with a first fixing guide wheel (306) and a second fixing guide wheel (307); the first fixed guide wheel (306) and the first movable guide wheel (303) are used for tensioning a first rope (5), the second fixed guide wheel (307) and the second movable guide wheel (304) are used for tensioning a second rope (4), an adjusting rope (6) is fixed to the tension adjusting end (309), and the other end of the adjusting rope (6) is connected with the upper end of the second joint connecting rod (201) after bypassing the adjusting guide wheel (305).
2. The rope-driven exoskeleton arm length adjustment link for maintaining rope tension constant as claimed in claim 1 further comprises a fixing mechanism (7) arranged on one side of the first joint link (101), wherein the fixing mechanism (7) comprises a quick locking handle (701), and the quick locking handle (701) passes through the first joint link (101) and the second joint link (201) and then is locked by a fixing nut (702).
3. The rope-driven exoskeleton arm length adjustment link capable of maintaining rope tension constant as claimed in claim 2, wherein the quick locking handle (701) comprises a pressing handle and a fixing screw connected with the pressing handle, the pressing handle is parallel to the side surfaces of the first joint link (101) and the second joint link (201), and the fixing screw passes through the through holes on the side surfaces of the first joint link (101) and the second joint link (201) and then is locked by a fixing nut (702).
4. The rope-driven exoskeleton arm length adjustment link capable of maintaining rope tension constant as claimed in claim 1, wherein the first joint link (101) is provided with a primary linear guide (103) at one side of a boss, the primary linear guide (103) is arranged along the length direction of the first joint link (101), the second joint link (201) is provided with a primary linear slider (203) at one side far away from the boss, and the second joint link (201) and the first joint link (101) are slidably connected with the primary linear guide (103) through the primary linear slider (203).
5. The rope-driven exoskeleton arm length adjustment link for maintaining rope tension constant as claimed in claim 1, wherein the second joint link (201) is provided with a secondary linear guide rail (204) at one side of the boss, the moving slide plate (302) is provided with a secondary linear slider (301) at one side close to the second joint link (201), and the moving slide plate (302) and the second joint link (201) are slidably connected with the secondary linear guide rail (204) through the secondary linear slider (301).
6. The rope driven exoskeleton arm length adjustment linkage as claimed in claim 1, wherein the first fixed guide wheel (306) and the second fixed guide wheel (307) are installed in a staggered manner along the length direction of the fixed bracket (308).
7. The rope-driven exoskeleton arm length adjustment linkage as claimed in claim 1, wherein the first joint rope pulley (102) and the second joint rope pulley (202) are provided with inner and outer rope grooves.
8. The rope driven exoskeleton arm length adjustment linkage as claimed in claim 1, wherein the through hole of the tension adjustment head (309) for installing the adjustment rope (6) is aligned with the rope groove outside the adjustment guide wheel (305).
9. The rope-driven exoskeleton arm length adjustment linkage for maintaining rope tension constant as claimed in claim 7, wherein one end of the first rope (5) is fixed on the first joint rope disc (102), the other end of the first rope (5) passes through the first fixed guide wheel (306) and the first movable guide wheel (303) in sequence and then is connected with the second joint rope disc (202), the first fixed guide wheel (306) and the first movable guide wheel (303) are installed on the same horizontal plane, an outer rope groove of the first fixed guide wheel (306) is aligned with an inner rope groove of the first movable guide wheel (303), and an outer rope groove of the first movable guide wheel (303) is aligned with a rope groove of the second joint rope disc (202).
10. The rope-driven exoskeleton arm length adjustment linkage for maintaining rope tension constant as claimed in claim 7, wherein one end of the second rope (4) is fixed on the first joint rope disc (102), the other end of the second rope (4) passes through the second fixed guide wheel (307) and the second movable guide wheel (304) in sequence and then is connected with the second joint rope disc (202), the second fixed guide wheel (307) and the second movable guide wheel (304) are installed on the same horizontal plane, the outer rope groove of the second fixed guide wheel (307) is aligned with the inner rope groove of the second movable guide wheel (304), and the outer rope groove of the second movable guide wheel (304) is aligned with the rope groove of the second joint rope disc (202).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021109245.5U CN213250921U (en) | 2020-06-16 | 2020-06-16 | Rope-driven exoskeleton mechanical arm length adjusting connecting rod capable of maintaining rope tension constant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021109245.5U CN213250921U (en) | 2020-06-16 | 2020-06-16 | Rope-driven exoskeleton mechanical arm length adjusting connecting rod capable of maintaining rope tension constant |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213250921U true CN213250921U (en) | 2021-05-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021109245.5U Withdrawn - After Issue CN213250921U (en) | 2020-06-16 | 2020-06-16 | Rope-driven exoskeleton mechanical arm length adjusting connecting rod capable of maintaining rope tension constant |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213250921U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111671617A (en) * | 2020-06-16 | 2020-09-18 | 湖北英特搏智能机器有限公司 | Rope-driven exoskeleton mechanical arm length adjusting connecting rod capable of maintaining rope tension constant |
-
2020
- 2020-06-16 CN CN202021109245.5U patent/CN213250921U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111671617A (en) * | 2020-06-16 | 2020-09-18 | 湖北英特搏智能机器有限公司 | Rope-driven exoskeleton mechanical arm length adjusting connecting rod capable of maintaining rope tension constant |
| CN111671617B (en) * | 2020-06-16 | 2023-12-05 | 湖北英特搏智能机器有限公司 | Rope-driven exoskeleton mechanical arm length adjusting connecting rod capable of maintaining constant rope tension |
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