CN213674128U - Multi-degree-of-freedom rope-driven rigid mechanical arm - Google Patents
Multi-degree-of-freedom rope-driven rigid mechanical arm Download PDFInfo
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- CN213674128U CN213674128U CN202022535739.6U CN202022535739U CN213674128U CN 213674128 U CN213674128 U CN 213674128U CN 202022535739 U CN202022535739 U CN 202022535739U CN 213674128 U CN213674128 U CN 213674128U
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Abstract
The utility model discloses a multi freedom rope drives rigid mechanical arm, a serial communication port, drive the part including base, joint part and rope and constitute, the joint part includes n execution joint group, and n is for being greater than 2 integer, the rope drives the part and includes n-1 group drive rope group, and every joint group corresponds a set of driving rope subassembly, the rope drives the part about ith group the driving rope is used for the drive the joint part ith execution joint worm independent motion, and i is 1 to n-1 integer. The utility model has the advantages that: the utility model discloses a combination of rope drive technique and worm gear realizes arm rigidity and a plurality of degree of freedom, by worm gear direct drive between the joint, worm gear had both realized auto-lock and rigidity between two joints, and worm drive worm wheel slows down simultaneously and increases the square, and the input torque of driving rope when greatly having reduced drive joint motion has also reduced the effort of driving rope to the joint that passes through simultaneously for the arm degree of freedom increases unrestricted.
Description
Technical Field
The utility model relates to a robot field, surgical robot field especially relate to multi freedom rope drives rigid mechanical arm.
Background
In the field of robots, a motor and a reducer are usually placed at a joint of a mechanical arm to drive the joint, which results in a heavy mechanical arm shape, a heavy load, a large volume and a high cost.
In some special fields, such as the field of surgical robots, when a mechanical arm needs to enter a human body to work, the requirement on the overall dimension of the mechanical arm is high, and meanwhile, the requirement on the output of the working torque of the mechanical arm is also high, particularly in the field of laparoscopic surgical robots, the manipulator arm joints of the fangqi surgical robot are connected by adopting a rope driving technology, a driving rope needs to be kept in a tensioning state when the manipulator arm works so as to ensure the rigidity and the transmission precision of the manipulator arm, the requirement on the driving rope is greatly improved, meanwhile, the driving rope has large acting force on the passing joints, the tail end of the manipulator arm cannot keep or output large torque, the number of degrees of freedom of the joints is also limited, the joint processing is complex, and the cost is high.
Therefore, through keen research, the applicant provides a technical scheme of the multi-degree-of-freedom rope-driven rigid mechanical arm.
Disclosure of Invention
In order to solve the problem provided in the above-mentioned background art, the utility model discloses a multi freedom rope drives rigid mechanical arm, drive the part including base, joint part and rope and constitute, the joint part includes n execution joint group, n is for being greater than 2 integer, carry out joint group including the ith execution joint at the ith, carry out joint worm installation axle, the ith execution joint worm, the ith +1 execution joint worm wheel installation axle, the ith +1 execution joint worm wheel left side position sleeve, the ith +1 execution joint right side position sleeve, wherein the (i + 1) th execution joint head end is articulated with the end of the ith execution joint through the ith execution joint worm wheel installation axle, the (i + 1) th execution joint head end is provided with the worm wheel, i is the integer of 1 to n-1;
the rope driving part comprises n-1 groups of driving ropes, each joint comprises a group of driving rope groups, the ith group of driving rope groups comprises an ith execution joint left driving rope, an ith execution joint left driving rope fixing sleeve, an ith execution joint right driving rope and an ith execution joint right driving rope fixing sleeve;
the ith execution joint worm rod of the joint part is driven to independently move by the ith execution joint left driving rope and the ith execution joint right driving rope of the ith group of driving ropes of the rope driving part, and the ith execution joint worm rod drives a worm wheel arranged at the head end of the (i + 1) th execution joint in meshing transmission with the ith execution joint worm rod to rotate, so that the independent movement of each joint is realized.
One end of the ith execution joint left driving rope is fixed in the ith execution joint left driving rope fixing sleeve, the ith execution joint left driving rope fixing sleeve is fixed on the left side of the ith execution joint worm, the ith execution joint left driving rope is wound on the left side of the ith execution joint worm clockwise, one end of the ith execution joint right driving rope is fixed in the ith execution joint right driving rope fixing sleeve, the ith execution joint right driving rope fixing sleeve is fixed on the right side of the ith execution joint worm, and the ith execution joint right driving rope is wound on the right side of the ith execution joint worm clockwise.
The head end of the (i + 1) th execution joint of the joint part is processed into a plurality of worm gears, and through holes are formed in rotating shafts of the worm gears.
The joint part ith execution joint is provided with a hinge hole at the tail end.
And a through hole with vertical space is arranged below one end of the ith execution joint hinge hole of the joint part.
The lower part of one end of the ith execution joint hinging hole of the joint part is provided with a hollow structure.
Through holes are formed in two ends of the ith execution joint worm, and a driving rope is installed in the worm through hole through a driving rope fixing sleeve.
A plurality of threading holes are axially formed in the ith execution joint of the joint part.
The ith execution joint worm mounting shaft is fixed in the ith execution joint through hole, the ith execution joint worm is rotatably mounted on the ith execution joint worm mounting shaft, a through hole at the head end worm wheel of the (i + 1) th execution joint is hinged with the tail end of the ith execution joint through the mounting shaft of the ith execution joint worm wheel, the ith execution joint worm wheel mounting shaft is fixed in the tail end hinge hole of the ith execution joint, the (i + 1) th execution joint worm wheel left positioning sleeve can be mounted on the left side of the mounting shaft of the ith execution joint worm wheel in a transmission manner, and the (i + 1) th execution joint worm wheel right positioning sleeve can be mounted on the right side of the mounting shaft of the ith execution joint worm wheel in a transmission manner.
The utility model discloses a combination of rope drive technique and worm gear realizes arm rigidity and a plurality of degree of freedom, by worm gear direct drive between the joint, worm gear has both realized auto-lock and rigidity between two joints, worm drive worm wheel slows down the increase of moment simultaneously, the input torque of driving rope when greatly having reduced drive joint motion, the effort of driving rope to the process joint has also been reduced simultaneously, make the arm degree of freedom increase unrestricted, adopt the design of integrating simultaneously, be in the same place worm wheel and joint integration, make and hold arm appearance volume and reduce greatly, greatly reduced the cost, moreover, the steam generator is simple in structure, the reliability of arm has been improved greatly.
Drawings
Fig. 1 is a schematic view of the entire structure of embodiment 1.
Fig. 2 is an internal sectional view of embodiment 1.
Fig. 3 is an exploded view of example 1.
Fig. 4 is an exploded view of the second actuating joint driving rope set and the actuating joint set in embodiment 1.
Fig. 5 is a schematic structural diagram of a second execution joint of the second execution joint set in embodiment 1.
Detailed Description
The embodiments of the present invention are described in detail below to enable advantages and features of the present invention to be more easily understood by those skilled in the art, and to thereby make more clear and definite definitions of the scope of the present invention.
Example 1
Referring to fig. 1-5, the multiple degree of freedom rope-driven rigid mechanical arm includes a base 1, a joint portion 2 and a rope-driven portion 3, the base 1 is fixedly connected to one end of the first executing joint A1, the first executing joint worm mounting shaft a111 is fixedly connected to the first executing joint A1 through a first executing joint through hole g1, the first executing joint worm mounting shaft a111 is rotatably connected to the first executing joint worm a112, the first executing joint left driving rope fixing sleeve B112 is fixed in a left through hole z1 of the first executing joint worm a112, the first executing joint left driving rope fixing sleeve B112 is fixedly connected to the first executing joint left driving rope B111, one end of the first executing joint left driving rope B111 is wound on the first executing joint worm a112, the first executing joint right driving rope fixing sleeve B114 is fixed in a right through hole y1 of the first executing joint worm a112, the first executing joint left driving rope fixing sleeve B112 is fixedly connected with the first executing joint right driving rope B113, one end of the first executing joint right driving rope B113 is wound on the first executing joint worm A112, and the other ends of the first executing joint left driving rope B111 and the first executing joint right driving rope B113 penetrate through a threading hole h1 axially formed in the first executing joint A1.
The second executing joint worm wheel mounting shaft a201 is fixedly connected with a first executing joint a1 through a first executing joint hinge hole j1, the second executing joint worm wheel mounting shaft a201 is rotatably connected with a second executing joint worm wheel left positioning sleeve a202, the second executing joint worm wheel mounting shaft a201 is rotatably connected with a second executing joint worm wheel right positioning sleeve a203, and the second executing joint A2 is rotatably connected with the second executing joint worm wheel mounting shaft a201 through a through hole k2 on a worm wheel.
The second execution joint worm mounting shaft a211 is rotatably connected with the second execution joint worm a212, the second execution joint left driving rope fixing sleeve B212 is fixed in a left through hole z2 of the second execution joint worm a212, the second execution joint left driving rope fixing sleeve B212 is fixedly connected with the second execution joint left driving rope B211, one end of the second execution joint left driving rope B211 is wound on the second execution joint worm a212, the second execution joint right driving rope fixing sleeve B214 is fixed in a left through hole y2 of the second execution joint worm a212, the second execution joint right driving rope fixing sleeve B214 is fixedly connected with the second execution joint right driving rope B213, one end of the second execution joint right driving rope B213 is wound on the second execution joint worm a212, and the other ends of the second execution joint left driving rope B211 and the second execution joint right driving rope B213 penetrate through a threading hole h2 and a first execution joint a1 axially arranged in the second execution joint A2 The second actuating joint worm mounting shaft a211 is fixedly connected with the second actuating joint A2 through a second actuating joint through hole g2, and the axially arranged thread hole h1 is arranged.
The third executing joint worm wheel mounting shaft a301 is fixedly connected with a second executing joint a2 through a second executing joint hinge hole j2, the third executing joint worm wheel mounting shaft a301 is rotatably connected with a third executing joint worm wheel left positioning sleeve a302, the third executing joint worm wheel mounting shaft a301 is rotatably connected with a third executing joint worm wheel right positioning sleeve a303, and the third executing joint A3 is rotatably connected with the third executing joint worm wheel mounting shaft a301 through a through hole k3 on a worm wheel.
The third executing joint worm mounting shaft a311 is rotatably connected with the third executing joint worm a312, the third executing joint left driving rope fixing sleeve B312 is fixed in a left through hole z3 of the third executing joint worm a312, the third executing joint left driving rope fixing sleeve B312 is fixedly connected with the third executing joint left driving rope B311, one end of the third executing joint left driving rope B311 is wound on the third executing joint worm a312, the third executing joint right driving rope fixing sleeve B314 is fixed in a left through hole y3 of the third executing joint worm a312, the third executing joint right driving rope fixing sleeve B314 is fixedly connected with the third executing joint right driving rope B313, one end of the third executing joint right driving rope B313 is wound on the third executing joint worm a312, and the other ends of the third executing joint left driving rope B311 and the third executing joint right driving rope B313 penetrate through a threading hole h3 and a second executing joint a2 which are axially arranged in the third executing joint A3 The third executing joint worm mounting shaft a311 is fixedly connected with the third executing joint A3 through a third executing joint through hole g3, and the axially arranged threading hole h2 and the axially arranged threading hole h1 of the first executing joint a1 are provided.
The fourth executing joint worm gear mounting shaft a401 is fixedly connected with a third executing joint A3 through a third executing joint hinge hole j3, the fourth executing joint worm gear mounting shaft a401 is rotatably connected with a fourth executing joint worm gear left positioning sleeve a402, the fourth executing joint worm gear mounting shaft a401 is rotatably connected with a fourth executing joint worm gear right positioning sleeve a403, and the fourth executing joint A4 is rotatably connected with the fourth executing joint worm gear mounting shaft a401 through a through hole k4 on the worm gear.
The fourth execution joint worm mounting shaft a411 is rotatably connected with the fourth execution joint worm a412, the fourth execution joint left driving rope fixing sleeve B412 is fixed in a left through hole z4 of the fourth execution joint worm a412, the fourth execution joint left driving rope fixing sleeve B412 is fixedly connected with the fourth execution joint left driving rope B411, one end of the fourth execution joint left driving rope B411 is wound on the fourth execution joint worm a412, the fourth execution joint right driving rope fixing sleeve B414 is fixed in a left through hole y4 of the fourth execution joint worm a412, the fourth execution joint right driving rope fixing sleeve B414 is fixedly connected with the fourth execution joint right driving rope B413, one end of the fourth execution joint right driving rope B413 is wound on the fourth execution joint worm a412, and the other ends of the fourth execution joint left driving rope B411 and the fourth execution joint right driving rope B413 penetrate through a threading hole h4 and a third execution joint A3 which are axially arranged in the fourth execution joint A4 The fourth executing joint worm mounting shaft a411 is fixedly connected with the fourth executing joint A4 through a fourth executing joint through hole g4, and the fourth executing joint comprises an axially arranged thread hole h3, an axially arranged thread hole h2 of the second executing joint a2, and an axially arranged thread hole h1 of the first executing joint a 1.
The fifth executing joint worm wheel mounting shaft a501 is fixedly connected with a fourth executing joint a4 through a fifth executing joint hinge hole j5, the fifth executing joint worm wheel mounting shaft a501 is rotatably connected with a fifth executing joint worm wheel left positioning sleeve a502, the fifth executing joint worm wheel mounting shaft a501 is rotatably connected with a fifth executing joint worm wheel right positioning sleeve a503, and the fifth executing joint A5 is rotatably connected with the fifth executing joint worm wheel mounting shaft a501 through a through hole k5 on the worm wheel.
The fifth execution joint worm mounting shaft A511 is rotatably connected with the fifth execution joint worm A512, the fifth execution joint left driving rope fixing sleeve B512 is fixed in a left through hole z5 of the fifth execution joint worm A512, the fifth execution joint left driving rope fixing sleeve B512 is fixedly connected with the fifth execution joint left driving rope B511, one end of the fifth execution joint left driving rope B511 is wound on the fifth execution joint worm A512, the fifth execution joint right driving rope fixing sleeve B514 is fixed in a left through hole y5 of the fifth execution joint worm A512, the fifth execution joint right driving rope fixing sleeve B514 is fixedly connected with the fifth execution joint right driving rope B513, one end of the fifth execution joint right driving rope B is wound on the fifth execution joint worm A512, and the other ends of the fifth execution joint left driving rope B511 and the fifth execution joint right driving rope B513 penetrate through a threading hole h5 and a fourth execution joint A4 which are axially arranged through A5 The fifth executing joint worm mounting shaft a511 is fixedly connected with the fifth executing joint A5 through a fifth executing joint through hole g5, and the fifth executing joint worm mounting shaft a may be fixedly connected with the fifth executing joint A3 through a thread hole h4 arranged in the axial direction, a thread hole h3 arranged in the axial direction of the third executing joint A3, a thread hole h2 arranged in the axial direction of the second executing joint a2, and a thread hole h1 arranged in the axial direction of the first executing joint a 1.
The sixth executing joint worm gear mounting shaft a601 is fixedly connected with a fifth executing joint a5 through a fifth executing joint hinge hole j5, the sixth executing joint worm gear mounting shaft a601 is rotatably connected with a sixth executing joint worm gear left positioning sleeve a602, the sixth executing joint worm gear mounting shaft a601 is rotatably connected with a sixth executing joint worm gear right positioning sleeve a603, and the sixth executing joint A6 is rotatably connected with the sixth executing joint worm gear mounting shaft a601 through a through hole k6 on the worm gear.
The working principle is as follows:
the left driving rope of each joint is clockwise around rolling up on the worm, and the right driving rope is clockwise around rolling up on the worm too, and when the shrink of the left driving rope of joint department, the driving worm wheel clockwise rotation, because one end processing has the worm gear on the next joint to with the worm meshing transmission, the worm wheel rotation drives the worm wheel and rotates, both has driven next joint clockwise rotation, drives right side driving rope rolling on the worm wheel when the worm wheel clockwise rotation.
When the right side drive rope of joint department contracts, drive worm wheel anticlockwise rotation, worm wheel rotation drives the worm wheel and both next joint anticlockwise rotation, the worm wheel drives left side drive rope rolling on the worm wheel when anticlockwise rotating, the shrink respectively of left and right sides drive rope drives the worm clockwise or anticlockwise rotation, simultaneously with it the next joint clockwise or anticlockwise rotation also therewith, be in the speed reduction when worm wheel drive worm wheel simultaneously and increase the square, auto-lock between the worm gear and the worm, also can realize the auto-lock between the adjacent joint.
The utility model discloses a combination of rope drive technique and worm gear realizes arm rigidity and a plurality of degree of freedom, by worm gear direct drive between the joint, worm gear has both realized auto-lock and rigidity between two joints, worm drive worm wheel slows down the increase of moment simultaneously, the input torque of driving rope when greatly having reduced drive joint motion, the effort of driving rope to the process joint has also been reduced simultaneously, make the arm degree of freedom increase unrestricted, adopt the design of integrating simultaneously, be in the same place worm wheel and joint integration, make and hold arm appearance volume and reduce greatly, greatly reduced the cost, moreover, the steam generator is simple in structure, the reliability of arm has been improved greatly.
The worm wheel mounting shafts of the two execution joints at the hinged position between two adjacent execution joints can be mutually vertical, also can be mutually parallel, and also can be mutually oblique. The above embodiments are all within the scope of the present application.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications made by those skilled in the art should not be construed as departing from the scope of the present invention.
Claims (9)
1. The multi-degree-of-freedom rope-driven rigid mechanical arm is characterized by comprising a base, a joint part and a rope driving part;
the joint part comprises n execution joint groups, n is an integer larger than 2, the ith execution joint group comprises an ith execution joint, an ith execution joint worm rod installation shaft, an ith execution joint worm rod, an ith +1 execution joint worm wheel installation shaft, an ith +1 execution joint worm wheel left positioning sleeve and an ith +1 execution joint right positioning sleeve, wherein the head end of the ith +1 execution joint is hinged with the tail end of the ith execution joint through the ith execution joint worm wheel installation shaft, the head end of the ith +1 execution joint is provided with a worm wheel, and i is an integer from 1 to n-1;
the rope driving part comprises n-1 groups of driving ropes, each joint comprises a group of driving rope groups, the ith group of driving rope groups comprises an ith execution joint left driving rope, an ith execution joint left driving rope fixing sleeve, an ith execution joint right driving rope and an ith execution joint right driving rope fixing sleeve;
the ith execution joint worm rod of the joint part is driven to independently move by the ith execution joint left driving rope and the ith execution joint right driving rope of the ith group of driving ropes of the rope driving part, and the ith execution joint worm rod drives a worm wheel arranged at the head end of the (i + 1) th execution joint in meshing transmission with the ith execution joint worm rod to rotate, so that the independent movement of each joint is realized.
2. The multi-degree-of-freedom rope-driven rigid mechanical arm as claimed in claim 1, wherein the ith group of driving ropes is characterized in that one end of an ith execution joint left driving rope is fixed in an ith execution joint left driving rope fixing sleeve, the ith execution joint left driving rope fixing sleeve is fixed on the left side of an ith execution joint worm, the ith execution joint left driving rope is wound on the left side of the ith execution joint worm clockwise, one end of an ith execution joint right driving rope is fixed in an ith execution joint right driving rope fixing sleeve, the ith execution joint right driving rope fixing sleeve is fixed on the right side of the ith execution joint worm, and the ith execution joint right driving rope is wound on the right side of the ith execution joint worm clockwise.
3. The multi-degree-of-freedom rope-driven rigid mechanical arm as claimed in claim 1, wherein the joint part (i + 1) th execution joint head end is machined into a plurality of worm gears, and through holes are formed in rotating shafts of the worm gears.
4. The multi-degree-of-freedom rope-driven rigid mechanical arm according to claim 1, wherein the i-th execution joint end of the joint part is provided with a hinge hole.
5. The multi-degree-of-freedom rope-driven rigid mechanical arm as claimed in claim 4, wherein a through hole which is perpendicular to the space is arranged below one end of the ith execution joint hinge hole of the joint part.
6. The multi-degree-of-freedom rope-driven rigid mechanical arm according to claim 4, wherein the joint part is arranged in a hollow structure below one end of the ith execution joint hinge hole.
7. The multi-degree-of-freedom rope-driven rigid mechanical arm as claimed in claim 1, wherein through holes are formed at two ends of the ith execution joint worm, and the driving rope is installed in the through hole of the worm through a driving rope fixing sleeve.
8. The multi-degree-of-freedom rope-driven rigid mechanical arm as claimed in claim 1, wherein the i-th execution joint of the joint part is axially provided with a plurality of threading holes.
9. The multi-degree-of-freedom rope-driven rigid mechanical arm according to claim 1, wherein an ith execution joint worm mounting shaft is fixed in an ith execution joint through hole, the ith execution joint worm is rotatably mounted on the ith execution joint worm mounting shaft, a through hole at the head end worm wheel of an (i + 1) th execution joint is hinged with the tail end of an ith execution joint through an ith execution joint worm wheel mounting shaft, the ith execution joint worm wheel mounting shaft is fixed in an ith execution joint tail end hinge hole, an (i + 1) th execution joint worm wheel left positioning sleeve is rotatably mounted on the left side of the ith execution joint worm wheel mounting shaft, and an (i + 1) th execution joint worm wheel right positioning sleeve is rotatably mounted on the right side of the ith execution joint worm wheel mounting shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022535739.6U CN213674128U (en) | 2020-11-05 | 2020-11-05 | Multi-degree-of-freedom rope-driven rigid mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022535739.6U CN213674128U (en) | 2020-11-05 | 2020-11-05 | Multi-degree-of-freedom rope-driven rigid mechanical arm |
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| CN213674128U true CN213674128U (en) | 2021-07-13 |
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|---|---|---|---|
| CN202022535739.6U Active CN213674128U (en) | 2020-11-05 | 2020-11-05 | Multi-degree-of-freedom rope-driven rigid mechanical arm |
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