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Drive device for wire-rope-driven robotic arm

A technology of transmission machinery and driving device, applied in the field of mechanical arms, can solve problems such as increasing the resistance of the driving device, and achieve the effects of reducing resistance, improving space utilization, and reducing resistance load

Active Publication Date: 2017-06-09
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the outer diameter of the robotic arm used for human surgery is relatively small, it can be seen that the driving wires of the drive system in these two patents are bent very severely after being connected to the robotic arm, which increases the resistance of the driving device

Method used

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  • Drive device for wire-rope-driven robotic arm
  • Drive device for wire-rope-driven robotic arm
  • Drive device for wire-rope-driven robotic arm

Examples

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Embodiment Construction

[0041] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0042] In this example, if figure 1 As shown, it is a schematic diagram of the overall structure of the driving device of the wire transmission mechanical arm provided by the present invention. In order to clearly express the internal structure, part of the transmission unit is hidden. It can be seen from the figure that its overall structure is cylindrical, while the general wire-driven continuum-shaped manipulator is cylindrical, so that the driving device and the continuum-shaped manipulator c...

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Abstract

The present invention provides a driving device for a wire-rope transmission mechanical arm, including a clamping device, a driving transmission module, a connecting clamping device and a support frame; wherein, the drive transmission module is arranged on the support frame; The connection and clamping device is connected to the drive transmission module; the clamping device is connected to the outer side of the frame front panel of the support frame; it also includes a line expansion device; the line expansion device is arranged on the support frame The inner side of the front end plate of the frame; the wire expansion device is used for guiding the driving cables; the present invention is provided with a wire expansion device, which can give the drive transmission module a suitable space to make the present invention more compact and improve space utilization; due to the drive The radially outward movement of the transmission module can reduce the distance from the stress point to the transmission unit, thereby greatly reducing the torque and reducing the resistance load of the present invention.

Description

technical field [0001] The invention relates to a mechanical arm, in particular to a driving device for a wire-rope-driven mechanical arm. Background technique [0002] The joints of traditional manipulators are directly driven by motors and other mechanisms. Although the mechanism is simple, it increases the load of the manipulator, and the structure is not compact and the efficiency is low. In order to reduce the self-weight of the multi-stage manipulator in series, to improve its space movement and the ability of the end to carry the load, it is best to separate the manipulator and the driving device. At present, most of the research at home and abroad is the continuum manipulator driven by the wire. Because of its super-redundancy and compliance, this kind of robotic arm has important potential applications in the automation of confined spaces such as nuclear industry and aerospace. [0003] By searching the prior art documents, it is found that Chinese Patent Publicat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
Inventor 汤磊谷国迎朱向阳朱利民李琳琳王俊刚
Owner SHANGHAI JIAO TONG UNIV
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