CN221271143U - A rope-driven serial-parallel hybrid robotic arm - Google Patents

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

A rope-driven serial-parallel hybrid robotic arm

Technical Field

The utility model relates to a mechanical arm, in particular to a rope-driven serial-parallel hybrid mechanical arm.

Background technique

As human beings’ requirements for intelligent and automated production increase, the application of robotic arms will not only be limited to the industrial field, but will also play an important role in agriculture, logistics, medical assistance, etc. Therefore, a series of new requirements are put forward for robotic arms, requiring new robotic arms to have high efficiency, high precision, high load, good flexibility and fast response ability.

The motors and structures placed at the joints of traditional robotic arms make them have large inertia and poor flexibility during movement, which limits their high-speed movement and rapid response capabilities. At the same time, due to the large inertia of each joint, high requirements are placed on the drive motor when carrying high-load objects.

Utility Model Content

The utility model aims to solve the problems of large inertia, poor compliance and high requirements for drive motors in the motion process of traditional mechanical arms. The utility model designs a rope-driven series-parallel hybrid mechanical arm with large load capacity, fast response speed and good compliance.

In order to solve the above technical problems, the utility model is realized by the following technical solutions: a rope-driven serial-parallel hybrid robot arm, which includes a shoulder joint, an elbow joint, a wrist joint, a tensioning mechanism, and a rope driving mechanism; the shoulder joint part includes a base, a linear motor, a damping spring, an upper base, a tapered roller bearing, a shoulder joint seat, a rotating motor, a support rod, an intermediate rod, a spherical bearing, a linear guide rail, a slider, a slider connector, and a large arm; the elbow joint part includes a large arm, a small arm, an anti-slip incomplete gear, a spherical bearing, a ball head rod, an anti-lateral planetary rod, a nut, and a damping spring 2; the wrist joint part includes a small arm, a connecting seat, a bearing seat, a bearing, a second connector, a connecting rod, a universal joint, a flange bearing, a second intermediate rod, and an end platform; the tensioning mechanism part includes a fixed frame, a sliding bolt, a convex slider, a concave slider, a pulley, a spring, a cover, and a plate moment; the rope driving mechanism part includes a driving motor, a fixed pulley group, a movable pulley group, a tensioning mechanism, and a rope;

The invention is characterized in that: a base is placed above the shoulder joint seat of the shoulder joint part, and a rotating motor is placed in the shoulder joint seat to drive the upper base to rotate. Two linear motors, an intermediate rod and three support rods are installed on the base, and the upper base is connected and fixed by the three support rods, and a damping spring is installed on the upper base. The damping spring connects the upper base and the upper arm, and two linear guides are installed on the lower end of the upper arm and connected to the slider, and a spherical bearing is installed at the center of the lower end of the upper arm to connect the intermediate rod. The slider is fixed to the connecting rod where the spherical bearing is installed, and the spherical bearing is connected to the linear motor, thereby forming a parallel structure.

The elbow joint part is fixed with an anti-skid incomplete gear on both sides of the upper end of the boom, and a spherical bearing is installed on both sides of the center part of the upper end joint of the boom to connect the ball head rod. An anti-skid incomplete gear is installed on both sides of the lower end of the forearm, and a spherical bearing is installed on both sides of the center part of the lower end joint of the forearm to connect the ball head rod. Anti-side deviation planetary rods are installed at both ends of the stepped shaft of the boom and forearm ball head rods and fixed with nuts.

The wrist joint part has a connecting seat installed at the upper end of the forearm, and three bearing seats are evenly installed on the connecting seat, and a flange bearing is installed in the middle. The flange bearing is connected to a universal joint through a short rod. Three bearing seats are evenly installed on the end platform, and a flange bearing is installed in the middle. The flange bearing is connected to a universal joint through a short rod. The three bearing seats on the connecting seat and the three bearing seats on the end platform are connected to three connecting rods through connectors, and the two universal joints connected thereto are connected through the middle rod.

The tensioning mechanism is equipped with a force-adjusting spring in its fixed frame, and then two sliding bolts are placed in the fixed frame. The convex and concave sliders are installed on the two sliding bolts to make them fit each other, and then the pulleys are installed on the convex and concave sliders. The cover and plate are installed at the open end of the fixed frame.

One end of the rope of the rope driving mechanism is fixed on the driving fixed pulley block through the driving fixed pulley block-tensioning mechanism-movable pulley block-tensioning mechanism-driving fixed pulley.

The beneficial effects of the utility model are embodied in: the rope-driven series-parallel hybrid robotic arm described in the present invention changes the traditional method of directly driving the joint motor in the robotic arm, and integrates the motor in the robotic arm base through rope drive, thereby reducing the driving inertia of each motor; the initial joint is changed to a parallel structure, which reduces the requirements for the driving motor and can withstand higher loads; the planetary gear mechanism is used to design the joint connection, so that the joint operation is more stable.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the robot structure of the present utility model;

FIG2 is a schematic diagram of the shoulder joint structure of the robot of the present utility model;

FIG3 is a schematic diagram of the robot elbow structure of the present utility model;

FIG4 is a schematic diagram of the robot wrist structure of the present utility model;

FIG5 is a schematic diagram of the structure of the robot tensioning mechanism of the present utility model;

FIG6 is a partial view of FIG3;

In the attached figure: 1. shoulder joint 2. joint motor 3. rotating drum; 4. tensioning mechanism; 5. steering fixed pulley; 6. elbow joint; 7. fixed pulley; 8. wrist joint; 9. fixing piece; 10. rotating motor; 11. shoulder joint seat; 12. tapered roller bearing; 13. support rod; 14. upper base; 15. linear motor; 16. spherical bearing; 17. slider connector; 18. slider; 19. linear guide; 20. intermediate rod; 21. lower end of the big arm; 22. damping spring; 23. upper end joint of the big arm; 24. ball head rod; 25. spherical bearing II; 26 . Anti-skid incomplete gear; 27. Anti-side deviation planetary rod; 28. Damping spring 2; 29. Lower end joint of forearm; 30. Upper end of forearm; 31. Rotating motor 2; 32. Connecting seat; 33. Bearing seat; 34. Connecting piece; 35. Connecting rod; 36. Intermediate rod 2; 37. Universal joint; 38. Flange bearing; 39. End platform; 40. Plate moment; 41. Cover; 42. Convex slider; 43. Sliding bolt; 44. Concave slider; 45. Pulley; 46. Force adjustment spring; 47. Fixed frame; 48. Nut; 49. Fixed piece 2; 50. Rope;

Detailed ways

The following embodiments of the technical solution of the utility model are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which the utility model belongs.

As shown in Figures 1 to 6, a rope-driven serial-parallel hybrid robotic arm described in the utility model includes a shoulder joint 1, a joint motor 2, a rotating 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 part 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 connector 17, a slider 18, a linear guide 19, an intermediate rod 20, a lower end of a large arm 21, a damping spring 22, a joint 23 at the upper end of the large arm, and a ball bearing. Head rod 24, spherical bearing 25, anti-slip incomplete gear 26, anti-side deviation planetary rod 27, damping spring 28, lower end joint of forearm 29, upper end of forearm 30, rotating motor 2 31, connecting seat 32, bearing seat 33, connecting piece 34, connecting rod 35, intermediate rod 2 36, universal joint 37, flange bearing 38, end platform 39, plate moment 40, cover 41, convex slider 42, sliding bolt 43, concave slider 44, pulley 45, force adjusting spring 46, fixing frame 47, nut 48, fixing piece 2 49, rope 50.

As shown in FIG2 , the shoulder joint comprises a rotary motor 10, a bearing 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 connector 17, a slider 18, a linear guide 19, an intermediate rod 20, a lower end of a large arm 21, and a damping spring 22; the characteristic is that the rotary motor 10 is fixed to the lower end of the bearing seat 11, driving the upper cover of the bearing seat 11 connected by the tapered roller bearing 12 to rotate, thereby providing the shoulder joint 1 with a rotational degree of freedom; Three support rods 13, an intermediate rod 20, and two linear motors 15 are installed and fixed on the upper cover of the bearing seat 11. The support rod 13 supports and fixes the upper base 14. The intermediate rod 20 is connected to the lower end 21 of the upper arm through a spherical bearing. The two linear motors 15 are connected to the spherical bearing 16, the slider connector 17, the slider 18, and the linear guide 19. The pitch angle and roll angle of the shoulder joint are changed accordingly through the coordinated linear reciprocating motion of the two linear motors 15, thereby providing the shoulder joint with two degrees of freedom.

As shown in Figures 3 and 6, the elbow joint includes an upper end joint 23 of the upper arm, a ball head rod 24, a spherical bearing 25, an anti-skid incomplete gear 26, an anti-lateral deviation planetary rod 27, a damping spring 28, a lower end joint 29 of the forearm, and a nut 48; it is characterized in that: two spherical bearings 25 are installed at the center of the upper end joint 23 of the upper arm, and the ball head rod 24 is connected to the two spherical bearings 25; two spherical bearings 25 are installed at the center of the lower end joint 29 of the forearm, and the ball head rod 24 is connected to the two spherical bearings 25; the damping spring 28 connects the upper end joint 23 of the upper arm and the lower end joint 29 of the forearm; four anti-skid incomplete gears 26 are respectively installed on both sides of the upper end joint 23 of the upper arm and on both sides of the lower end joint 29 of the forearm, and the upper and lower arms are connected with the anti-lateral deviation planetary rod 27, and the two anti-lateral deviation planetary rods 27 are connected to the upper and lower ball head rods and fixed with nuts 48 to realize the rotational movement of the forearm relative to the upper arm.

As shown in Figure 4, the wrist joint includes an upper end 30 of the forearm, a second rotating motor 31, a connecting seat 32, a bearing seat 33, a connecting piece 34, a connecting rod 35, a second intermediate rod 36, a universal joint 37, a flange bearing 38, and an end platform 39; it is characterized in that: the connecting seat 32 is installed and fixed on the upper end 30 of the forearm, and three bearing seats 33 and a flange bearing 38 are installed and fixed on it; three bearing seats 33 and a flange bearing 38 are installed and fixed on the end platform 39; the second rotating motor 31 is connected to the universal joint 37 through the flange bearing 38 to form a second rotating motor 31-flange bearing 38-universal joint 37-second intermediate rod 36-universal joint 37-flange bearing 38-end actuator, thereby driving the end actuator to rotate; the three bearing seats 33 on the end platform 39 and the three bearing seats 33 on the connecting seat 32 are connected through six connecting pieces 34 and three connecting rods 35 to form a parallel mechanism with two degrees of freedom.

As shown in FIG5 , 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 adjustment spring 46, and a fixed frame 47; the characteristics are as follows: a force adjustment spring 46 is placed in the fixed frame 47, and then two sliding bolts 43 are placed, and the concave slider 44 and the convex slider 42 are matched with each other and respectively installed on the two sliding bolts 43; pulleys 45 are respectively installed on the concave slider 44 and the convex slider 42 and fixed; then the cover 41 and the plate moment 40 are installed on the fixed frame, so as to form an effect of adjusting the angle between the concave slider 44, the convex slider 42 and the fixed frame 47 by twisting the plate moment 40.

As shown in Figures 1 and 6, the rope drive mechanism includes a joint motor 2, a rotating drum 3, a tensioning mechanism 4, a steering fixed pulley 5, a fixed pulley 7, a fixing part 9, and a second fixing part 49; it is characterized in that: the rope is fixed on the second fixing part 49, and the rope passes around the second fixing part 49-steering fixed pulley 5-tensioning mechanism 4-rotating drum 3-joint motor 2 respectively; the rope is fixed on two fixing parts 9 facing each other at the wrist joint 8, and the rope passes through one side fixing part 9-fixed pulley 7-steering fixed pulley 5-tensioning mechanism 4-rotating drum 3-joint motor 2 respectively; thereby achieving the goal of driving the elbow joint 6 and wrist joint 8 to move by the joint motor 2 installed on the upper arm.

To sum up: the rope-driven serial-parallel hybrid robotic arm described in the utility model changes the traditional method of directly driving the robotic arm with the joint motor 2, and integrates the motor in the base of the robotic arm by rope drive, thereby reducing the driving inertia of each motor; the shoulder joint 1 is changed into a parallel structure, which reduces the requirements for the driving motor and obtains a higher load capacity; the elbow joint 6 uses the anti-lateral deviation planetary rod 27 to mesh the anti-slip incomplete gear 26 with the album planetary gear mechanism, so that the movement process of the elbow joint 6 is more stable.

Claims (6)

1. A rope-driven serial-parallel hybrid robot arm, characterized in that it comprises a shoulder joint (1), a joint motor (2), a rotating 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 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 connector (17), a slider (18), a linear guide rail (19), an intermediate rod (20), a lower end of a large arm (21), a damping spring (22), an upper end joint of the large arm (23), a ball head rod (24), a spherical bearing Bearing 2 (25), anti-skid incomplete gear (26), anti-side deviation planetary rod (27), damping spring 2 (28), lower end joint of forearm (29), upper end of forearm (30), rotating motor 2 (31), connecting seat (32), bearing seat (33), connecting piece (34), connecting rod (35), intermediate rod 2 (36), universal joint (37), flange bearing (38), end platform (39), plate moment (40), cover (41), convex slider (42), sliding bolt (43), concave slider (44), pulley (45), force adjustment spring (46), fixing frame (47), nut (48), fixing piece 2 (49), rope (50); The shoulder joint comprises 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 connector (17), a slider (18), a linear guide rail (19), an intermediate rod (20), a lower end of a large arm (21), and a damping spring (22); The elbow joint comprises an upper end joint (23) of the upper arm, a ball head 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 end joint (29) of the lower arm, and a nut (48); The wrist joint comprises an upper end of a forearm (30), a second rotating motor (31), a connecting seat (32), a bearing seat (33), a connecting piece (34), a connecting rod (35), a second intermediate rod (36), a universal joint (37), a flange bearing (38), and an end platform (39); The tensioning mechanism (4) comprises a plate (40), a cover (41), a convex slider (42), a sliding bolt (43), a concave slider (44), a pulley (45), a force adjustment spring (46), and a fixed frame (47). 2. A rope-driven serial-parallel hybrid robot arm according to claim 1, characterized in that: the rotating motor (10) is fixed to the lower end of the shoulder joint seat (11), driving the upper cover of the shoulder joint seat (11) connected by the tapered roller bearing (12) to rotate, thereby providing the shoulder joint (1) with a rotational freedom; three support rods (13), an intermediate rod (20), and two linear motors (15) are installed and fixed on the upper cover of the shoulder joint seat (11), the support rod (13) supports and fixes the upper base (14), the intermediate rod (20) is connected to the lower end (21) of the upper arm through a spherical bearing, and the two linear motors (15) are connected to the spherical bearing (16), the slider connector (17), the slider (18), and the linear guide (19), and the pitch angle and roll angle of the shoulder joint are changed accordingly through the mutual cooperation of the two linear motors (15) through linear reciprocating motion, thereby providing the shoulder joint with two degrees of freedom. 3. A rope-driven serial-parallel hybrid manipulator according to claim 1, characterized in that: two spherical bearings (25) are installed at the center of the upper end joint (23) of the upper arm, and the ball head rod (24) is connected to the two spherical bearings (25); two spherical bearings (25) are installed at the center of the lower end joint (29) of the forearm, and the ball head rod (24) is connected to the two spherical bearings (25); a damping spring (28) connects the upper end joint (23) of the upper arm and the lower end joint (29) of the forearm; four anti-skid incomplete gears (26) are respectively installed on both sides of the upper end joint (23) of the upper arm and on both sides of the lower end joint (29) of the forearm, and the upper and lower arms are connected by anti-lateral deviation planetary rods (27), and the two anti-lateral deviation planetary rods (27) are connected to the upper and lower ball head rods and fixed with nuts (48) to realize the rotational movement of the forearm relative to the upper arm. 4. A rope-driven serial-parallel hybrid robot arm according to claim 1, characterized in that: the connecting seat (32) is fixedly mounted on the upper end (30) of the forearm, and three bearing seats (33) and a flange bearing (38) are fixedly mounted thereon; three bearing seats (33) and a flange bearing (38) are fixedly mounted on the end platform (39); the second rotating motor (31) is connected to the universal joint (37) through the flange bearing (38) to form the second rotating motor (31)-flange bearing (38)-universal joint (37)-intermediate rod (36)-universal joint (37)-flange bearing (38)-end platform (39), thereby driving the end effector to rotate; the three bearing seats (33) on the end platform (39) and the three bearing seats (33) on the connecting seat (32) are connected through six connecting pieces (34) and three connecting rods (35) to form a parallel mechanism with two degrees of freedom. 5. A rope-driven serial-parallel hybrid robot arm according to claim 1, characterized in that: a force adjustment spring (46) is placed in a fixed frame (47), and then two sliding bolts (43) are placed, and the concave slider (44) and the convex slider (42) are matched with each other and installed on the two sliding bolts (43) respectively; pulleys (45) are installed on the concave slider (44) and the convex slider (42) respectively, and fixed; then the upper cover (41) and the plate moment (40) are installed on the fixed frame, so as to form an effect of adjusting the angle between the concave slider (44), the convex slider (42) and the fixed frame (47) by twisting the plate moment (40). 6. A rope-driven serial-parallel hybrid robot arm according to claim 1, characterized in that: the rope (50) is fixed to the second fixing member (49), and the rope (50) is passed around the second fixing member (49)-steering fixed pulley (5)-tensioning mechanism (4)-rotating drum (3)-joint motor (2); the rope (50) is fixed to two fixing members (9) facing each other at the wrist joint (8), and the rope (50) passes through the fixing member (9)-fixed pulley (7)-steering fixed pulley (5)-tensioning mechanism (4)-rotating drum (3)-joint motor (2); thereby achieving the goal of driving the elbow joint (6) and wrist joint (8) to move by the joint motor (2) installed on the upper arm.