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Rope-driven series mechanical arm

A manipulator and rope drive technology, applied in the field of manipulators, can solve the problems of too large base, too many driving sources, limiting the development of rope drive manipulators, etc.

Pending Publication Date: 2020-04-21
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are still problems such as complex driving form, too many driving sources, and too large base.
These problems limit the development of rope-driven manipulators to a certain extent.

Method used

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  • Rope-driven series mechanical arm
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  • Rope-driven series mechanical arm

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Embodiment Construction

[0024] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0025] Such as Figure 1-2 As shown, a rope-driven series manipulator provided by the present invention includes a main driving rope 1, a main driving sheave 206, a driving rope 203 inside the unit, and multi-stage unit joints; The bottom of each unit joint is symmetrically provided with at least two main drive sheaves 206; each main drive sheave 206 is wound with a unit internal drive rope 203, and the end of the unit internal drive rope 203 is connected to the next There are at least two main driving ropes 1, and each main driving rope 1 is wound on the corresponding main driving sheave 206 in sequence.

[0026] The unit joint includes a unit base and a unit support arranged on the unit base. The main driving sheave 206 is arranged on the unit ...

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Abstract

The invention relates to a mechanical arm, and especially relates to a rope-driven series mechanical arm. The mechanical arm comprises main driving ropes, main driving rope wheels, a unit internal driving rope and a multi-stage unit joint. The multi-stage unit joint comprises a plurality of unit joints which are successively connected in series and hinged to one another, and at least two main driving rope wheels are symmetrically arranged at a bottom of each unit joint. The unit internal driving rope is wound on each main driving rope wheel, and a tail end of each main driving rope wheel is connected with a next-stage unit joint. There are at least two main driving ropes, and each main driving rope is sequentially wound on the corresponding main driving rope wheel. Coupling linkage of thewhole arm is achieved by connecting discretization units in series, bending in a space is achieved, and compared with a traditional rope-driving arm, the mechanical arm of the invention has advantagesthat the number of driving sources is less and control is easy.

Description

technical field [0001] The invention relates to a mechanical arm, in particular to a rope-driven serial mechanical arm. Background technique [0002] In the prior art, on the basis of using discrete units, the rope-driven mechanical arm usually needs 2-3 ropes to drive each joint unit. If there are n units, n driving ropes are needed, that is, n driving motors . With the development of the rope-driven robotic arm, there is a form of driving the entire robotic arm in segments, and the movement of the arm is realized through the coupling and linkage between the units of each segment. Some even simplify the number of drives by analyzing the motion form of the base drive source to reduce the weight of the whole machine. However, there are still problems such as complex driving form, too many driving sources, and too large base. These problems limit the development of rope-driven manipulators to a certain extent. Contents of the invention [0003] In view of the problems ex...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J9/12
CPCB25J9/104B25J9/12
Inventor 刘玉旺谢磊超王冬琦朱树云邹风山
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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