Two-degree-of-freedom mechanical arm joint driven by ropes

Abstract

The invention discloses a two-degree-of-freedom mechanical arm joint driven by ropes. The two-degree-of-freedom mechanical arm joint comprises a first rotating shaft, a second rotating shaft, a fixed end, a movable end and the driving ropes. The first rotating shaft and the second rotating shaft are crossed. The movable end can rotate round the first rotating shaft and the second rotating shaft relative to the fixed end. At least three driving ropes are arranged and are circumferentially distributed along the movable end. One ends of the driving ropes are fixedly connected with the movable end, and the other ends of the driving ropes can independently pull the movable end to rotate under external force. According to the two-degree-of-freedom mechanical arm joint driven by the ropes, the weight of joints can be greatly reduced, and therefore the bearing capability of a mechanical arm can be further improved, and high-speed moving and fast responding of the mechanical arm are facilitated; and meanwhile, the arrangement work of electrical wires is omitted, the mechanical arm is only composed of mechanical structures, the influences of severe environments are not likely to occur, the service life is easily prolonged, and disassembling, maintaining and assembling are convenient.

Description

technical field [0001] The invention relates to the field of robots, in particular to the field of mechanical arms. Background technique [0002] The ultra-redundant degree of freedom manipulator is proposed to solve the problem of poor flexibility of traditional series robots. By adding a large number of redundant joints, the dimension of the joint space is much larger than the dimension of the task space. The introduction of redundant joints Make the robot arm more flexible to achieve the desired end position. Therefore, this kind of robotic arm is especially suitable for use as: 1. Operating equipment in irregular spaces, a large number of redundant joints can make the robotic arm have a strong ability to avoid obstacles, making it especially suitable for special robots, such as earthquake Life-saving robots, nuclear reactor inspection robots, etc. that pass through the rubble and rubble to find survivors after disasters; Used for the removal of explosives and the maint...

AI Technical Summary

Problems solved by technology

[0004] 1. The electrical circuit of the robotic arm is very cumbersome, which brings great inconvenience to subsequent maintenance and easily causes safety hazards;

[0005] 2. The inertia and mass of the robotic arm are increased, resulting in a certain limitation in its carrying capacity, which is not conducive to high-speed movement and quick response;

[0006] 3. The motor-driven joints are generally single-degree-of-freedom joints. In order to realize multi-degree-of-freedom movements, it will inevitably lead to the complexity of the control system;

[0007] 4. Increased manufacturing costs

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