CN221271143U - Rope-driven serial-parallel hybrid mechanical arm - Google Patents
Rope-driven serial-parallel hybrid mechanical arm Download PDFInfo
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- CN221271143U CN221271143U CN202320495587.2U CN202320495587U CN221271143U CN 221271143 U CN221271143 U CN 221271143U CN 202320495587 U CN202320495587 U CN 202320495587U CN 221271143 U CN221271143 U CN 221271143U
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- rod
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- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 210000000323 shoulder joint Anatomy 0.000 claims description 26
- 238000013016 damping Methods 0.000 claims description 16
- 210000002310 elbow joint Anatomy 0.000 claims description 13
- 210000003857 wrist joint Anatomy 0.000 claims description 12
- 210000000245 forearm Anatomy 0.000 claims description 6
- 239000012636 effector Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 10
- 230000004044 response Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The utility model discloses a rope-driven serial-parallel hybrid mechanical arm. The method is used for solving the problems of large inertia, poor flexibility, limited response speed and the like of the traditional industrial robot. The traditional mode of the mechanical arm directly driven by the joint motor is changed, and the motor is integrated on the mechanical arm base in a rope driving mode, so that the driving inertia of each motor is reduced; the initial joint is changed into a parallel structure, so that the requirement on a driving motor is reduced, and higher load can be born; the planetary gear mechanism is used for designing joint connection, so that joint operation is more stable.
Description
Technical Field
The utility model relates to a mechanical arm. In particular to a rope-driven serial-parallel hybrid mechanical arm.
Background
Along with the improvement of the requirements of human on intelligent and automatic production, the application of the mechanical arm is not limited to the industrial field, but also plays an important role in the fields of agriculture, logistics, medical assistance and the like. Therefore, a series of new requirements are provided for the mechanical arm, and the novel mechanical arm is required to have high efficiency, high precision, high load, good flexibility and quick response capability.
The traditional mechanical arm has large inertia and poor flexibility in the movement process due to the motor and the structure arranged at the joint, so that the high-speed movement and the quick response capability of the traditional mechanical arm are limited. Meanwhile, because of the large inertia of each joint, the driving motor is required to be highly stressed when the object is borne.
Disclosure of utility model
The utility model aims to solve the problems of large inertia, poor flexibility and high requirement on a driving motor in the motion process of the traditional mechanical arm. The utility model designs the rope-driven serial-parallel hybrid mechanical arm which has the advantages of high load capacity, high response speed and good flexibility.
In order to solve the technical problems, the utility model is realized by the following technical scheme: a rope-driven serial-parallel hybrid mechanical arm comprises a shoulder joint, an elbow joint, a wrist joint, a tensioning mechanism and a rope driving mechanism; the shoulder joint part comprises a base, a linear motor, a damping spring, an upper base, a tapered roller bearing, a shoulder joint seat, a rotating motor, a supporting rod, a middle rod, a spherical bearing, a linear guide rail, a sliding block connecting piece and a large arm; the elbow joint part comprises a big arm, a small arm, an anti-slip incomplete gear, a spherical bearing, a ball head rod, an anti-lateral deviation planetary rod, a nut and a damping spring 2; the wrist joint part comprises a small arm, a connecting seat, a bearing, a second connecting piece, a connecting rod, a universal joint, a flange bearing, a second middle rod and a tail end platform; the tensioning mechanism part comprises a fixed frame, a sliding bolt, a convex sliding block, a concave sliding block, a pulley, a spring, a cover and a plate moment; the rope driving mechanism part comprises a driving motor, a fixed pulley block, a movable pulley block, a tensioning mechanism and a rope;
The method is characterized in that: the base is placed above the shoulder joint seat on the shoulder joint part, and the rotating motor is arranged in the shoulder joint seat and used for driving the upper base to rotate. Two linear motors, a middle rod and three support rods are arranged on the base, the upper base is fixedly connected by the three support rods, and a damping spring is arranged on the upper base. The damping spring is connected with the upper base and the large arm, two linear guide rails are arranged at the lower end of the large arm and are connected with the sliding block, and a spherical bearing is arranged at the center of the lower end of the large arm and is connected with the middle rod. The sliding block is fixed on a connecting piece rod provided with a spherical bearing, and the spherical bearing is connected with the linear motor, so that a parallel structure is formed.
The elbow joint part is provided with an anti-slip incomplete gear at two sides of the upper end of the big arm respectively, and a spherical bearing is arranged at two sides of the central part of the upper end joint of the big arm respectively for connecting with a ball head rod. The two sides of the lower end of the small arm are respectively provided with an anti-slip incomplete gear, and the two sides of the central part of the joint at the lower end of the small arm are respectively provided with a spherical bearing for connecting with a ball head rod. And the two ends of the stepped shaft of the big arm and the small arm ball head rod are provided with the anti-lateral deflection planetary rods and are fixed by nuts.
The wrist joint part is provided with a connecting seat at the upper end of the forearm, three bearing seats are uniformly arranged on the connecting seat, and a flange bearing is arranged in the middle of the connecting seat and is connected with a universal joint through a short rod. Three bearing seats are uniformly arranged on the tail end platform, and a flange bearing is arranged in the middle of the tail end platform and is connected with a universal joint through a short rod. The three bearing seats on the connecting seat are connected with the three bearing seats of the tail end platform through connecting pieces, and the two universal joints connected with the three bearing seats are connected through the middle rod.
The tensioning mechanism part is provided with a force adjusting spring in the fixed frame, then two sliding bolts are arranged in the fixed frame, a convex sliding block and a concave sliding block are respectively arranged on the two sliding bolts to be matched with each other, and then pulleys are arranged on the convex sliding block and the concave sliding block. A cover and a plate moment are mounted at the open end of the fixed frame.
One end of the rope driving mechanism part is fixed on the driving fixed pulley block and drives the fixed pulley through the driving fixed pulley block-tensioning mechanism-movable pulley block-tensioning mechanism-driving fixed pulley.
The beneficial effects of the utility model are as follows: according to the rope-driven serial-parallel mechanical arm, the traditional mode of the mechanical arm directly driven by the joint motor is changed, and the motors are integrated on the mechanical arm base in a rope-driven mode, so that the driving inertia of each motor is reduced; the initial joint is changed into a parallel structure, so that the requirement on a driving motor is reduced, and higher load can be born; the planetary gear mechanism is used for designing joint connection, so that joint operation is more stable.
Drawings
FIG. 1 is a schematic view of a robot configuration of the present utility model;
FIG. 2 is a schematic view of a robotic shoulder joint configuration of the present utility model;
FIG. 3 is a schematic view of the robot elbow joint structure of the present utility model;
FIG. 4 is a schematic view of the robot wrist of the present utility model;
FIG. 5 is a schematic view of the robot tensioning mechanism of the present utility model;
FIG. 6 is a partial view of FIG. 3;
In the accompanying drawings: 1. shoulder joint 2, joint motor 3, rotary drum; 4. a tensioning mechanism; 5. a diverting pulley; 6. an elbow joint; 7. a fixed pulley; 8. a wrist joint; 9. a fixing member; 10. a rotating electric machine; 11. a shoulder joint seat; 12. tapered roller bearings; 13. a support rod; 14. an upper base; 15. a linear motor; 16. a spherical bearing; 17. a slider connection; 18. a slide block; 19. a linear guide rail; 20. an intermediate lever; 21. the lower end of the big arm; 22. a damping spring; 23. the upper end joint of the big arm; 24. a ball head rod; 25. a spherical bearing II; 26. an anti-slip incomplete gear; 27. lateral deviation prevention planetary bars; 28. damping spring II; 29. the lower end joint of the small arm; 30. the upper end of the forearm; 31. a second rotating electric machine; 32. a connecting seat; 33. a bearing seat; 34. a connecting piece; 35. a connecting rod; 36. an intermediate rod II; 37. a universal joint; 38. a flange bearing; 39. an end platform; 40. a plate moment; 41. a cover; 42. a convex sliding block; 43. a sliding bolt; 44. a concave slider; 45. a pulley; 46. a force adjusting spring; 47. a fixed frame; 48. a nut; 49. a second fixing piece; 50. a rope;
Detailed Description
Embodiments of the technical scheme of the present utility model will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present utility model, and thus are merely examples, and are not intended to limit the scope of the present utility model.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this utility model belongs.
As shown in fig. 1-6, the rope-driven serial-parallel mechanical arm according to the present utility model includes a shoulder joint 1, a joint motor 2, a drum 3, a tensioning mechanism 4, a fixed pulley 5, an elbow joint 6, a fixed pulley 7, a wrist joint 8, a fixing member 9, a rotating motor 10, a shoulder joint seat 11, a tapered roller bearing 12, a support rod 13, an upper base 14, a linear motor 15, a spherical bearing 16, a slider connecting member 17, a slider 18, a linear guide 19, a middle rod 20, a large arm lower end 21, a damping spring 22, a large arm upper end joint 23, a ball rod 24, a spherical bearing two 25, an anti-slip incomplete gear 26, an anti-lateral deviation planetary rod 27, a damping spring two 28, a small arm lower end joint 29, a small arm upper end 30, a rotating motor two 31, a connecting seat 32, a bearing seat 33, a connecting member 34, a connecting rod 35, a middle rod two 36, a universal joint 37, a flange bearing 38, an end platform 39, a plate moment 40, a cover 41, a convex slider 42, a sliding bolt 43, a concave slider 44, a pulley 45, a force adjusting spring 46, a fixing frame 47, a rope two-fixing member 49, and a nut 50.
As shown in fig. 2, the shoulder joint comprises a rotating motor 10, a bearing seat 11, a tapered roller bearing 12, a supporting rod 13, an upper base 14, a linear motor 15, a spherical bearing 16, a sliding block connecting piece 17, a sliding block 18, a linear guide rail 19, a middle rod 20, a large arm lower end 21 and a damping spring 22; the method is characterized in that: the rotating motor 10 is fixed at the lower end of the bearing seat 11, drives the upper cover of the bearing seat 11 connected by the tapered roller bearing 12 to rotate, and provides a degree of freedom of rotation for the shoulder joint 1; the three supporting rods 13, the middle rod 20 and the two linear motors 15 are fixedly arranged on the upper cover of the bearing seat 11, the supporting rods 13 support and fix the upper base 14, the middle rod 20 is connected with the lower end 21 of the large arm through a spherical bearing, the two linear motors 15 are connected with the spherical bearing 16, the sliding block connecting piece 17, the sliding block 18 and the linear guide rail 19, the pitch angle and the roll angle of the shoulder joint are correspondingly changed through the mutually matched linear reciprocating motion of the two linear motors 15, and two degrees of freedom are provided for the shoulder joint.
As shown in fig. 3 and 6, the elbow joint comprises a large arm upper end joint 23, a ball head rod 24, a spherical bearing two 25, an anti-slip incomplete gear 26, an anti-lateral deviation planetary rod 27, a damping spring two 28, a small arm lower end joint 29 and a nut 48; the method is characterized in that: the two spherical bearings II 25 are arranged at the center of the upper end joint 23 of the large arm, and the ball rod 24 is connected with the two spherical bearings II 25; the two spherical bearings II 25 are arranged at the center of the lower end joint 29 of the small arm, and the ball rod 24 is connected with the two spherical bearings II 25; the damping spring II 28 is connected with the upper end joint 23 of the big arm and the lower end joint 29 of the small arm; four anti-slip incomplete gears 26 are respectively arranged at two sides of the upper end joint 23 of the big arm and two sides of the lower end joint 29 of the small arm, the obtained upper and lower end arms are connected by using anti-slip planetary rods 27, and the two anti-slip planetary rods 27 are connected to the upper and lower ball head rods and fixed by nuts 48 to realize the rotation movement of the small arm relative to the big arm.
As shown in fig. 4, the wrist joint includes a forearm upper end 30, a second rotating motor 31, a connecting seat 32, a bearing seat 33, a connecting piece 34, a connecting rod 35, a second middle rod 36, a universal joint 37, a flange bearing 38 and a terminal platform 39; the method is characterized in that: the connecting seat 32 is fixedly arranged on the upper end 30 of the forearm, and three bearing seats 33 and a flange bearing 38 are fixedly arranged on the connecting seat; three bearing seats 33 and a flange bearing 38 are fixedly arranged on the tail end platform 39; the second rotating motor 31 is connected with the universal joint 37 through the flange bearing 38 to form a second rotating motor 31-the flange bearing 38-the universal joint 37-the intermediate rod second 36-the universal joint 37-the flange bearing 38-the end effector, so that the end effector can be driven to rotate; the three bearing blocks 33 on the end platform 39 are connected with the three bearing blocks 33 on the connecting seat 32 through six connecting pieces 34 and three connecting rods 35 to form a parallel mechanism with two degrees of freedom.
As shown in fig. 5, the tensioning mechanism 4 includes a plate moment 40, a cover 41, a convex slider 42, a sliding bolt 43, a concave slider 44, a pulley 45, a force adjusting spring 46, and a fixed frame 47; the method is characterized in that: a force adjusting spring 46 is placed in the fixed frame 47, then two sliding bolts 43 are placed, and the concave sliding block 44 and the convex sliding block 42 are mutually matched and respectively installed on the two sliding bolts 43; pulleys 45 are respectively arranged on the concave sliding block 44 and the convex sliding block 42 and are fixed; the upper cover 41 and the plate moment 40 are then mounted on the fixed frame, thereby creating the effect of adjusting the angle between the female slider 44, the male slider 42 and the fixed frame 47 by twisting the plate moment 40.
As shown in fig. 1 and 6, the rope driving mechanism comprises an articulated motor 2, a rotary drum 3, a tensioning mechanism 4, a steering fixed pulley 5, a fixed pulley 7, a fixing piece 9 and a fixing piece two 49; the method is characterized in that: the ropes are fixed on the second fixing piece 49 and respectively wound around the second fixing piece 49, the steering fixed pulley 5, the tensioning mechanism 4, the rotary drum 3 and the joint motor 2; the ropes are fixed on two fixing pieces 9 opposite to the wrist joint 8, and the ropes pass through one side fixing piece 9, a fixed pulley 7, a steering fixed pulley 5, a tensioning mechanism 4, a rotary drum 3 and a joint motor 2 respectively; thereby the joint motor 2 mounted on the big arm drives the elbow joint 6 and the wrist joint 8 to move.
To sum up: according to the rope-driven serial-parallel mechanical arm, the traditional mode of the mechanical arm directly driven by the joint motor 2 is changed, and the motors are integrated on the mechanical arm base in a rope-driven mode, so that the driving inertia of each motor is reduced; the shoulder joint 1 is changed into a parallel structure, so that the requirement on a driving motor is reduced, and higher load capacity is obtained; the elbow joint 6 mutually engages the anti-slip incomplete gear 26 with the album planetary gear mechanism through the anti-lateral deviation planetary bar 27, so that the movement process of the elbow joint 6 is more stable.
Claims (6)
1. The utility model provides a rope drive serial-parallel hybrid arm which characterized in that: the device comprises a shoulder joint (1), a joint motor (2), a rotary drum (3), a tensioning mechanism (4), a steering fixed pulley (5), an elbow joint (6), a fixed pulley (7), a wrist joint (8), a fixing piece (9), a rotating motor (10), a shoulder joint seat (11), a tapered roller bearing (12), a supporting rod (13), an upper base (14), a linear motor (15), a spherical bearing (16), a sliding block connecting piece (17), a sliding block (18), a linear guide (19), a middle rod (20), a lower arm end (21), a damping spring (22), an upper arm end joint (23), a ball rod (24), a second spherical bearing (25), an anti-slip incomplete gear (26), an anti-lateral deviation planetary rod (27), a second damping spring (28), a lower arm lower end joint (29), a lower arm upper end (30), a rotating motor (31), a connecting seat (32), a bearing seat (33), a connecting piece (34), a connecting rod (35), a middle rod (36), a universal joint (37), a flange bearing (38), a terminal platform (39), a plate moment (40), a cover (41), a convex sliding block (42), a sliding block (43) and a concave bolt (44), pulley (45), force-adjusting spring (46), fixed frame (47), nut (48), second fixing piece (49) and rope (50);
The shoulder joint comprises a rotating motor (10), a shoulder joint seat (11), a tapered roller bearing (12), a supporting rod (13), an upper base (14), a linear motor (15), a spherical bearing (16), a sliding block connecting piece (17), a sliding block (18), a linear guide rail (19), a middle rod (20), a large arm lower end (21) and a damping spring (22);
The elbow joint comprises a large arm upper end joint (23), a ball rod (24), a spherical bearing II (25), an anti-slip incomplete gear (26), an anti-lateral deviation planetary rod (27), a damping spring II (28), a small arm lower end joint (29) and a nut (48);
The wrist joint comprises a forearm upper end (30), a rotating motor II (31), a connecting seat (32), a bearing seat (33), a connecting piece (34), a connecting rod (35), a middle rod II (36), a universal joint (37), a flange bearing (38) and a tail end platform (39);
the tensioning mechanism (4) comprises a plate moment (40), a cover (41), a convex sliding block (42), a sliding bolt (43), a concave sliding block (44), a pulley (45), a force adjusting spring (46) and a fixed frame (47).
2. The rope-driven serial-parallel hybrid mechanical arm according to claim 1, wherein: the rotating motor (10) is fixed at the lower end of the shoulder joint seat (11) and drives the upper cover of the shoulder joint seat (11) connected by the tapered roller bearing (12) to rotate, so that a degree of freedom of rotation is provided for the shoulder joint (1); the three supporting rods (13), the middle rod (20) and the two linear motors (15) are installed and fixed on the upper cover of the shoulder joint seat (11), the supporting rods (13) support and fix the upper base (14), the middle rod (20) is connected with the lower end (21) of the large arm through a spherical bearing, the two linear motors (15) are connected with the spherical bearing (16), the sliding block connecting piece (17), the sliding block (18) and the linear guide rail (19), and the pitch angle and the rolling angle of the shoulder joint are correspondingly changed through the mutual matching linear reciprocating motion of the two linear motors (15), so that two degrees of freedom are provided for the shoulder joint.
3. The rope-driven serial-parallel hybrid mechanical arm according to claim 1, wherein: the two spherical bearings II (25) are arranged at the center of the upper end joint (23) of the large arm, and the ball head rod (24) is connected with the two spherical bearings II (25); the two spherical bearings II (25) are arranged at the center of a joint (29) at the lower end of the small arm, and the ball head rod (24) is connected with the two spherical bearings II (25); the damping spring II (28) is connected with the upper end joint (23) of the large arm and the lower end joint (29) of the small arm; four anti-slip incomplete gears (26) are respectively arranged at two sides of an upper end joint (23) of the large arm and two sides of a lower end joint (29) of the small arm, the obtained upper end arm and the obtained lower end arm are connected by an anti-slip planetary rod (27), and the two anti-slip planetary rods (27) are connected to the upper ball head rod and the lower ball head rod and fixed by nuts (48) to realize the rotation movement of the small arm relative to the large arm.
4. The rope-driven serial-parallel hybrid mechanical arm according to claim 1, wherein: the connecting seat (32) is fixedly arranged on the upper end (30) of the forearm, and three bearing seats (33) and a flange bearing (38) are fixedly arranged on the connecting seat; three bearing seats (33) and a flange bearing (38) are fixedly arranged on the tail end platform (39); the rotating motor II (31) is connected with the universal joint (37) through the flange bearing (38) to form a rotating motor II (31) -the flange bearing (38) -the universal joint (37) -the middle rod II (36) -the universal joint (37) -the flange bearing (38) -the end platform (39), so that the end effector can be driven to rotate; three bearing seats (33) on the tail end platform (39) are connected with three bearing seats (33) on the connecting seat (32) through six connecting pieces (34) and three connecting rods (35), so that a parallel mechanism with two degrees of freedom is formed.
5. The rope-driven serial-parallel hybrid mechanical arm according to claim 1, wherein: a force adjusting spring (46) is placed in the fixed frame (47), then two sliding bolts (43) are placed, and the concave sliding block (44) and the convex sliding block (42) are mutually matched and respectively installed on the two sliding bolts (43); pulleys (45) are respectively arranged on the concave sliding block (44) and the convex sliding block (42) and are fixed; then, the upper cover (41) and the plate moment (40) are mounted on the fixed frame, so that the effect of adjusting the included angles among the concave sliding block (44), the convex sliding block (42) and the fixed frame (47) by twisting the plate moment (40) is achieved.
6. The rope-driven serial-parallel hybrid mechanical arm according to claim 1, wherein: the rope (50) is fixed on the second fixing part (49), and the rope (50) respectively bypasses the second fixing part (49) -the steering fixed pulley (5) -the tensioning mechanism (4) -the rotary drum (3) -the joint motor (2); the rope (50) is fixed on two fixing pieces (9) opposite to the wrist joint (8), and the rope (50) passes through the fixing pieces (9) -the fixed pulley (7) -the steering fixed pulley (5) -the tensioning mechanism (4) -the rotary drum (3) -the joint motor (2); thereby achieving the purpose that the joint motor (2) arranged on the big arm drives the elbow joint (6) and the wrist joint (8) to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320495587.2U CN221271143U (en) | 2023-03-15 | 2023-03-15 | Rope-driven serial-parallel hybrid mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320495587.2U CN221271143U (en) | 2023-03-15 | 2023-03-15 | Rope-driven serial-parallel hybrid mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221271143U true CN221271143U (en) | 2024-07-05 |
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ID=91703102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320495587.2U Active CN221271143U (en) | 2023-03-15 | 2023-03-15 | Rope-driven serial-parallel hybrid mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221271143U (en) |
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2023
- 2023-03-15 CN CN202320495587.2U patent/CN221271143U/en active Active
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