Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes

Abstract

The invention discloses a mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes. The mechanical arm high-angle controllable rotary joint device is characterized in that a front-stage mechanical arm and a rear-stage mechanical arm are connected through a rotation shaft and a bearing and rotate relative to each other; a steel wire wheel disc is fixed between an upper boss and a lower boss of the front-stage mechanical arm; a shaft of an angle sensing output device which is arranged in a cavity in the middle of a flange at one end of a rotation shaft of the steel wire wheel disc is coaxial with the rotation shaft and rotates synchronously with the rotation shaft; two driving steel wire ropes are clamped on groove through holes through ball heads and are wound in a U-shaped groove of the rim of the steel wire wheel disc; and a steel wire rope pre-tightening device is used for adjusting pre-tightening force of the driving steel wire ropes through adjustment screws. According to the joint device provided by the invention, the joint displacement can be obtained in real time so that the accurate control of joints is realized; and the relative sliding does not occur between each steel wire rope and the steel wire wheel disc, so that the rolling contact is realized between each steel wire rope and the steel wire rope pre-tightening device, the frictional loss is small, the steel wire rope transfer efficiency is high and the applicability is brought to the serial-connect expansion of the multi-stage mechanical arms.

Description

technical field [0001] The invention belongs to the technical field of mechanical arm joints, in particular to a large-angle controllable rotary joint device of a mechanical arm driven by double wire ropes. Background technique [0002] Existing robotic arms are usually composed of multi-stage joints connected in series, and are used as the supporting part of the end manipulator, and are mostly used for remote control, target detection and other multi-degree-of-freedom poses and obstacle avoidance applications. The controllable rotary joint structure of the manipulator is the key element that determines the positioning accuracy and spatial movement capability of the end of the manipulator. [0003] In the narrow and deep movement space, the obstacle avoidance ability of the manipulator is highly required. In order to reduce the self-weight of the multi-stage tandem manipulator and improve the carrying capacity of its end, the use of steel wire ropes for joint drive has been ...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a large-angle controllable rotary joint device of a mechanical arm driven by double wire ropes, so as to solve the slippage problem between the wire rope and the joint drive wheel or drive shaft, and reduce the friction loss during the pretensioning process of the wire rope , improve the transmission efficiency of the wire rope and the control precision of the joint

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