A rope-driven robotic arm

Abstract

The present invention relates to the field of mechanical arm technology, and more specifically, to a mechanical arm based on rope drive, the device comprises a moving component, a working component and a driving component, the driving component is movably connected to the moving component, the working component is connected to one side of the driving component, and the working component is arranged in parallel with the moving component; the working component comprises a plurality of articulated arms and driving ropes for driving the articulated arms, and the driving components are respectively connected to the articulated arms through the driving ropes; along the direction in which the driving ropes extend, the diameters of the plurality of articulated arms gradually decrease, wherein the articulated arm with the largest diameter is close to the driving component. Each articulated arm comprises a first connecting plate, a second connecting plate and a connecting column. The diameter of the first connecting plate is smaller than the diameter of the second connecting plate, and the first connecting plate and the second connecting plate are both circular, and the first connecting plate and the second connecting plate are arranged in parallel and coaxially to form a truncated cone. The present invention solves the problem that the end of the mechanical arm in the prior art is deformed due to the influence of its own weight, resulting in low motion accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a mechanical arm driven by a rope. Background Art

[0002] The description of the background technology in the present invention belongs to the related technology related to the present invention, which is only used to illustrate and facilitate the understanding of the invention content of the present invention, and should not be understood as the applicant explicitly believes or inferred that the applicant believes that it is the prior art of the present invention on the filing date of the first application.

[0003] With the continuous improvement of the level of industrialization and the integration of mechanical equipment, many operations need to be carried out in small, unstructured and harsh spaces, which requires robots to be more flexible, while traditional industrial robots can no longer meet the needs of operating in these environments. The super-redundant manipulator, with its large number of degrees of freedom, has the characteristics of high flexibility and strong obstacle avoidance ability. It can operate in the fields of nuclear reactor inspection, space shuttle maintenance, and post-disaster rescue through rubble. At the same time, it can also grasp irregular objects by controlling redundant joints in a curling manner. The super-redundant manipulator in the prior art has many driving ropes that are mostly parallel to each other. Although the complexity of the mechanism is reduced, when the length of the manipulator is long, the manipulator needs to overcome the large torque generated by its own gravity, which will eventually lead to a large driving force required by the manipulator to offset its own gravity. At the same time, the large length of the manipulator will also cause the deformation and stress of the end of the manipulator in the process of overcoming its own weight, which will eventually affect the accuracy of the movement of the end of the manipulator. Summary of the invention

[0004] The purpose of the present invention is to provide a rope-driven mechanical arm, which solves the problem of low motion accuracy caused by deformation of the end of the mechanical arm due to its own weight in the prior art.

[0005] The technical solution of the present invention to solve the above technical problems is as follows:

[0006] The present invention provides a rope-driven mechanical arm, comprising a moving component, a working component and a driving component, wherein the driving component is movably connected to the moving component, the working component is connected to one side of the driving component, and the working component and the moving component are arranged in parallel; the working component comprises a plurality of articulated arms and driving ropes for driving the articulated arms, and the driving component is respectively connected to the articulated arms through the driving ropes; along the extending direction of the driving ropes, the diameters of the plurality of articulated arms gradually decrease, wherein the articulated arm with the largest diameter is close to the driving component; two adjacent articulated arms are rotationally connected through a universal member.

[0007] The present invention realizes the operation in a narrow, unstructured and harsh environment space through a working component, provides power for the work of the working component through a driving component, drives the driving component to change its position through a moving component, and then enables the driving component to drive the working component to adjust the working position. The working component includes a joint arm, a driving rope and a universal component, and a plurality of joint arms with different diameters are rotatably connected through the universal component, and all the joint arms are connected in series using a driving rope, thereby increasing the length of the joint arm, and the diameters of the plurality of joint arms are successively reduced, and the joint arm with the largest diameter is located on the side away from the driving component. When all the joint arms are in a coaxial state, the entire working component is truncated. In this embodiment, the joint arm with a gradually reduced diameter can effectively reduce the gravity of the entire working component itself, reduce the influence of the deadweight of the working component during the working process, and can minimize the deformation of the end of the working component. At the same time, due to the reduction of the gravity of the working component, the accuracy of the working component during the working process can be effectively improved, and the problem of low motion accuracy caused by the deformation of the end of the mechanical arm affected by the deadweight of the prior art is solved.

[0008] Furthermore, each articulated arm comprises a first connecting plate, a second connecting plate and a connecting column, and a plurality of connecting columns are evenly spaced and connected between the first connecting plate and the second connecting plate. The connecting columns are provided to ensure the tightness of the entire articulated arm structure.

[0009] Furthermore, the diameter of the first connecting plate is smaller than that of the second connecting plate, the second connecting plate is located on the side close to the driving assembly in the articulated arm, the first connecting plate and the second connecting plate are both circular, and the first connecting plate and the second connecting plate are parallel and coaxially arranged to form a truncated cone, and the angle between the generatrix of the truncated cone and the axis is greater than 0 degrees and less than or equal to 10 degrees. By setting the diameter of the first connecting plate to be smaller than the diameter of the second connecting plate, the mass of the entire working assembly is further reduced, and the accuracy of the movement of the working assembly is improved.

[0010] Furthermore, the universal component includes a cross universal joint, two first support seats and two second support seats, the two second support seats are connected to one side of the second connecting plate at intervals, the two first support seats are connected to one side of the first connecting plate at intervals, the two second support seats and the two first support seats are arranged in a cross shape, the cross universal joint includes a circular connecting block and four cylindrical connecting heads connected to the outer circle of the connecting block at even intervals, and the four connecting heads are connected to the two second support seats and the two first support seats respectively. The universal component is set so that the angle between any two adjacent joint arms can change.

[0011] Furthermore, the first connecting plate, the second connecting plate and the connecting block are all provided with functional holes, which are used to connect the integrated circuit, thereby protecting the circuit from damage and making the entire device more beautiful in appearance.

[0012] Furthermore, the second connection plate of each articulated arm is connected to the driving assembly through a driving rope; the driving rope connected to the corresponding second connection plate passes through all the first connection plates and the second connection plates between the second connection plate and the driving assembly. Through the above arrangement, each articulated arm can be controlled by the driving assembly individually, providing flexibility in the operation of the entire device.

[0013] Furthermore, all the driving ropes are arranged in a ring shape and divided into three groups with even intervals.

[0014] Furthermore, the driving assembly includes a protective shell and a servo motor, a coupling, a working screw, a slider, a fixed pulley, a rope fixing block and a working plate arranged in the protective shell; the protective shell is open on the side away from the articulated arm, and a plurality of working plates are arranged from top to bottom in the protective shell, and a plurality of working screws are evenly spaced on the upper surface of the working plate; the end of the working screw away from the articulated arm is connected to a coupling and a servo motor, and the end of the working screw close to the articulated arm is connected to a rope fixing block; the working screw sleeve is provided with a slider, and the slider is connected to a fixed pulley. The fixed pulley is used to drive the driving rope to move while limiting the movement direction of the driving rope. The fixed pulley can also be used to shorten the travel of the driving rope by half, thereby reducing the space occupied by the driving assembly. The rope fixing block is used to limit the extension direction of the driving rope, thereby ensuring the accuracy of the entire working assembly during operation.

[0015] Furthermore, a wire distribution plate is arranged between one end of the working plate close to the articulated arm and the inner wall of the protective shell, and a plurality of wire distribution holes are arranged at intervals on the wire distribution plate, and the wire distribution holes are arranged opposite to the working lead screw.

[0016] The provided distribution plate is used to allow the driving rope to pass through and be connected to the fixed pulley, which can more conveniently realize that each driving rope corresponds to a servo motor. The user can choose the number of driving ropes to work according to the specific working environment, making the application of the device more flexible.

[0017] Furthermore, the above-mentioned moving component includes an installation platform, a heavy-loaded screw, a driving motor, two sliding rails, an auxiliary block and a sliding block cooperating with the auxiliary block. The two heavy-loaded screws are arranged in parallel and at intervals, the sliding rails are arranged in parallel with the working screw, the installation platform is located on the sliding rails and is connected to the lower bottom wall of the protective shell, the sliding rails and the heavy-loaded screw are connected to sliding blocks, and multiple auxiliary blocks are connected to the lower surface of the installation platform.

[0018] The present invention has the following beneficial effects: the present application sets up a moving component, a working component, and a driving component, and rotatably connects multiple articulated arms with different diameters through a universal component. The articulated arms can realize bending in space through multiple universal components connected in series, and use a driving rope to connect all the articulated arms in series, thereby increasing the length of the articulated arms, and the diameters of the multiple articulated arms are successively reduced. By using the articulated arms with gradually reduced diameters and the oblique arrangement of the driving ropes, not only can the working component operate in a small, unstructured, and harsh space, but it can also effectively reduce the gravity of the entire working component itself, reduce the influence of the working component's own weight during work, and minimize the deformation of the end of the working component as much as possible. At the same time, due to the reduction in the gravity of the working component, the accuracy of the working component during work can be effectively improved, thereby solving the problem of low motion accuracy caused by the deformation of the end of the prior art mechanical arm due to the influence of its own weight. Compared with the parallel rope-driven configuration, the maximum stress of the oblique-stayed rope-driven configuration under the influence of only its own weight is 27.45% of that of the parallel configuration, the strain is two-thirds of that of the parallel configuration, and the terminal posture deformation is smaller. The maximum rope driving force of the oblique-stayed manipulator configuration is 20.1N, which has better mechanical properties than the maximum driving force of 51.91N of the parallel rope-driven configuration with the same mass and length. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of a rope-driven mechanical arm of the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the driving component in the present invention;

[0021] Figure 3 It is a structural schematic diagram of the mobile component in the present invention;

[0022] Figure 4 It is a schematic diagram of the structure of the working components in the present invention.

[0023] Icons: 100-moving component; 101-sliding rail; 102-mounting platform; 103-heavy-loaded screw; 104-driving motor; 105-auxiliary block; 106-sliding block; 200-working component; 210-jointed arm; 211-first connecting plate; 212-second connecting plate; 213-connecting column; 220-driving rope; 230-universal component; 231-first supporting seat; 232-second supporting seat; 233-functional hole; 234-connecting block; 235-connecting head; 300-driving component; 301-protective shell; 302-working plate; 303-coupling; 304-working screw; 305-slider; 306-fixed pulley; 307-rope fixing block; 308-distribution plate; 309-distribution hole. DETAILED DESCRIPTION

[0024] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0025] Please refer to Figure 1 A rope-driven robotic arm includes a moving assembly 100, a working assembly 200 and a driving assembly 300, wherein the driving assembly 300 is movably connected to the moving assembly 100, the working assembly 200 is connected to one side of the driving assembly 300, and the working assembly 200 is arranged in parallel with the moving assembly 100; the working assembly 200 includes a plurality of articulated arms 210 and a driving rope 220 for driving the articulated arms 210, and the driving assembly 300 is respectively connected to the articulated arms 210 through the driving rope 220; along the direction in which the driving rope 220 extends, the diameters of the plurality of articulated arms 210 gradually decrease, and the articulated arm 210 with the largest diameter is close to the driving assembly 300; two adjacent articulated arms 210 are rotationally connected through a universal member 230.

[0026] It should be noted that the present embodiment is provided with a moving component 100, a working component 200, and a driving component 300. The working component 200 is used to realize space operations in a narrow, unstructured, and harsh environment. The driving component 300 is used to provide power for the working component 200. The moving component 100 drives the driving component 300 to realize position changes, and then the driving component 300 drives the working component 200 to realize the adjustment of the working position. In detail, the working component 200 includes an articulated arm 210, a driving rope 220 and a universal member 230. The number of driving ropes 220 provided in this embodiment is several. Multiple articulated arms 210 with different diameters are rotatably connected through the universal member 230. The articulated arm 210 can be bent in space through multiple universal members 230 connected in series, and all articulated arms 210 are connected using the driving rope 220, thereby increasing the length of the articulated arm 210. Specifically, the driving rope 220 is used to drive the articulated arm 210 to adjust the angle. One end of the driving rope 220 is connected to the articulated arm 210, and the other end is connected to the driving component. Each articulated arm 210 can control the rotation amplitude of the articulated arm 210 by controlling the length change of the driving rope 220. The length of the driving rope 220 at different positions is controlled by the driving component. Since the length of the driving rope 220 changes, the articulated arm 210 is driven to bend in different directions, thereby realizing the bending of the working component in space. Specifically, the diameters of the multiple articulated arms 210 decrease in sequence, and the articulated arm 210 with the largest diameter is located on the side away from the driving assembly 300. When all the articulated arms 210 are in a coaxial state, the entire working assembly 200 is in a truncated cone shape. This embodiment uses the articulated arms 210 with gradually decreasing diameters and the oblique arrangement of the driving ropes 220, which not only enables the working assembly 200 to operate in a narrow, unstructured, and harsh space, but also effectively reduces the gravity of the entire working assembly 200 itself, reduces the influence of the self-weight of the working assembly 200 during the working process, and can minimize the deformation of the end of the working assembly 200. At the same time, due to the reduction in the gravity of the working assembly 200, the accuracy of the working assembly 200 during the working process can be effectively improved, solving the problem of low motion accuracy caused by deformation of the end of the mechanical arm due to the influence of its own weight in the prior art.

[0027] Please refer to Figure 4Each articulated arm 210 includes a first connecting plate 211, a second connecting plate 212 and a connecting column 213, and a plurality of connecting columns 213 are evenly spaced and connected between the first connecting plate 211 and the second connecting plate 212. It should be noted that the articulated arm 210 includes a first connecting plate 211, a second connecting plate 212 and a connecting column 213, and a plurality of connecting columns 213 are arranged between the first connecting plate 211 and the second connecting plate 212. Preferably, the plurality of connecting columns 213 are arranged in a ring shape. In other embodiments of the present invention, the connecting columns may also be arranged in a linear array, a rectangular array or other ways in which the plurality of connecting columns 213 can be arranged.

[0028] Please refer to Figure 4 , the diameter of the first connecting plate 211 is smaller than the diameter of the second connecting plate 212, the second connecting plate 212 is located on the side of the articulated arm 210 close to the drive assembly 300, the first connecting plate 211 and the second connecting plate 212 are both circular, and the first connecting plate 211 and the second connecting plate 212 are parallel and coaxially arranged to form a truncated cone, and the angle between the generatrix and the axis of the truncated cone is greater than 0 degrees and less than or equal to 2.5 degrees. It should be noted that in each articulated arm 210, the diameter of the first connecting plate 211 is smaller than the diameter of the second connecting plate 212. For example, the working assembly 200 has 12 articulated arms 210 and 11 universal components 230. From the drive assembly 300 to the direction away from the drive assembly 300, they are the first articulated arm 210, the second articulated arm 210, the third articulated arm 210...the twelfth articulated arm 210, the diameter of the second connecting plate 212 in the first articulated arm 210 is greater than the diameter of the first connecting plate 211 in the first articulated arm 210, and the second articulated arm The diameter of the second connecting plate 212 in 210 is greater than the diameter of the first connecting plate 211 in the second articulated arm 210, and the diameter of the first connecting plate 211 in the second articulated arm 210 is smaller than the diameter of the second connecting plate 212 in the first articulated arm 210. Similarly, the diameter of the first connecting plate 211 in the twelfth articulated arm 210 is the smallest diameter among all twelve articulated arms 210, and the diameter of the second connecting plate 212 in the first articulated arm 210 is the largest diameter among all twelve articulated arms 210. Optionally, the connecting column 213 is connected to the first connecting plate 211 and the second connecting plate 212 by bolts or screws. In other embodiments of the present invention, the number of articulated arms 210 in the working assembly 200 can also be 11, 10 or other numbers, which can be set according to the actual working environment.

[0029] It is worth noting that the inclined-pull driving rope 220 used in this embodiment can achieve the detection and grasping tasks that can be completed by the parallel-pull driving configuration, and at the same time, the mechanical properties are better. Specifically, in the implementation case where the angle between the busbar and the axis is 1°, the maximum stress of the inclined-pull driving configuration under the influence of only the deadweight is 27.45% of the parallel configuration, the strain is two-thirds of the parallel configuration, and the terminal posture deformation is smaller. The maximum driving force of the inclined-pull mechanical arm configuration rope used in this embodiment is 20.1N, which is better than the maximum driving force of 51.91N of the parallel-pull driving configuration under the same mass and length. Specifically, the above beneficial effects will be further improved with the increase of the inclined-pull angle. The angle between the generatrix of the truncated cone of the articulated arm 210 and the axis is greater than 0 degree and less than or equal to 10 degrees. When it is less than 0 degrees, the design requirement for entering a narrow environment is not met. This angle range can not only meet the detection requirements of a narrow environment, but also reduce the center of mass of the entire working component. Therefore, the angle between the generatrix of the articulated arm 210 and the axis is greater than 0 degree and less than or equal to 10 degrees. Preferably, the angle between the generatrix of the articulated arm 210 and the axis can also be greater than 0 degree and less than or equal to 2 degrees, greater than 0 degree and less than or equal to 2.5 degrees, greater than 0.5 degrees and less than or equal to 1 degree, greater than 0.8 degrees and less than or equal to 1 degree, greater than 1 degree and less than or equal to 2.5 degrees, and can also be 1°, 2°, or 0.9568°. The most preferred angle is 1°, which is designed to meet the detection requirements of the robotic arm when entering a narrow environment.

[0030] Please refer to Figure 4The universal member 230 includes a cross universal joint, two first support seats 231 and two second support seats 232. The two second support seats 232 are connected to one side of the second connecting plate 212 at intervals, and the two first support seats 231 are connected to one side of the first connecting plate 211 at intervals. The two second support seats 232 and the two first support seats 231 are arranged in a cross shape. The cross universal joint includes a circular connecting block 234 and four cylindrical connecting heads 235 evenly spaced and connected to the outer circle of the connecting block 234. The four connecting heads 235 are respectively connected to the two second support seats 232 and the two first support seats 231. It should be noted that adjacent articulated arms 210 are rotationally connected by a universal member 230, and the universal member 230 has two degrees of freedom. Taking 12 articulated arms 210 and 11 universal members 230 as an example, the working assembly 200 has twenty-two degrees of freedom as a whole. Each articulated arm 210 is driven by a plurality of drive ropes 220 that move independently of each other, and the end of the drive rope 220 close to the drive assembly 300 is connected to the drive assembly 300. For example, the working assembly 200 has 12 articulated arms 210 and 11 universal members 230, and the direction from the drive assembly 300 to the direction away from the drive assembly 300 is the first articulated arm 210, the second articulated arm 210, the third articulated arm 210 ... the twelfth articulated arm 210, the two first support seats 231 are spaced apart and are both connected to the first connecting plate 211 in the first articulated arm 210 by bolts or screws, and the two second support seats 232 are spaced apart and are both connected to the second connecting plate 211 in the second articulated arm 210 212 is connected by bolts or screws, the first support seat 231 and the second support seat 232 are arranged in a square shape, in other embodiments of the present invention, the first support seat 231 and the second support seat 232 can be a structure with an arc, and the first support seat 231 and the second support seat 232 are arranged in a ring shape, and the first support seat 231 and the second support seat 232 are both provided with a connecting hole, and a connecting head 235 is connected in the connecting hole. Preferably, a sleeve, a sleeve or an annular protective ring is provided between the connecting head 235 and the connecting hole. Preferably, under the connection of the universal member 230, the bending radius between two adjacent articulated arms 210 is 400mm and the front end is smaller, so that the device provided in this embodiment can complete the detection task under special environment.

[0031] Please refer to Figure 4, the first connecting plate 211, the second connecting plate 212, and the connecting block 234 are all provided with functional holes 233. It should be noted that the working component 200 also needs to connect the integrated circuit. By providing the functional holes 233 on the first connecting plate 211, the second connecting plate 212, and the connecting block 234, the integrated circuit in the working component 200 can be connected in series through the functional holes 233, that is, the integrated circuit is set inside the working component 200, so that the appearance of the entire working component 200 is more beautiful and simple, and the circuit can be protected from being destroyed or damaged by external forces. Preferably, the diameter of the functional hole 233 is 18 mm, and the data line, serial port line, and sensor can be integrated into the functional hole 233.

[0032] Please refer to Figure 4The second connecting plate 212 of each articulated arm 210 is connected to the driving assembly 300 through a driving rope 220; the driving rope 220 connected to the corresponding second connecting plate 212 passes through all the first connecting plates 211 and the second connecting plates 212 between the second connecting plate 212 and the driving assembly 300. It should be noted that the same number of rope threading holes are provided on the first connecting plate 211 and the second connecting plate 212, and the driving rope 220 is passed through the rope threading holes. For example, the working component 200 has 12 articulated arms 210 and 11 universal components 230. From the driving component 300 to the direction away from the driving component 300, there are the first articulated arm 210, the second articulated arm 210, the third articulated arm 210...the twelfth articulated arm 210, that is, the first connecting plate 211 and the second connecting plate 212 in the first articulated arm 210 have the same number of rope threading holes, the first connecting plate 211 and the second connecting plate 212 in the second articulated arm 210 have the same number of rope threading holes, and the same applies to the third articulated arm 210 to the twelfth articulated arm 210. Along the direction in which the driving rope 220 extends, the number of rope threading holes on the first connecting plates 211 in the plurality of articulated arms 210 gradually decreases, and the first connecting plates 211 with the least number are arranged away from the driving assembly 300. Specifically, the driving rope 220 connected to the second connecting plate 212 in the twelfth articulated arm 210 passes through the first connecting plate 211 and the second connecting plate 212 in the eleventh articulated arm 210, the first connecting plate 211 and the second connecting plate 212 in the tenth articulated arm 210…the first connecting plate 211 and the second connecting plate 212 in the first articulated arm 210, and is finally connected to the driving assembly 300. At the same time, the eleventh articulated arm The driving rope 220 connected to the second connecting plate 212 in 210 passes through the first connecting plate 211 and the second connecting plate 212 in the tenth articulated arm 210, the first connecting plate 211 and the second connecting plate 212 in the ninth articulated arm 210…the first connecting plate 211 and the second connecting plate 212 in the first articulated arm 210, and is finally connected to the driving assembly 300, that is, the number of driving ropes 220 connected to the first connecting plate 211 and the second connecting plate 212 in the first articulated arm 210 is the largest, and the number of driving ropes 220 connected to the first connecting plate 211 and the second connecting plate 212 in the twelfth articulated arm 210 is the least.

[0033] Please refer to Figure 4, all the driving ropes 220 are arranged in a ring shape and are divided into three groups with even spacing. It should be noted that in other embodiments of the present invention, the driving ropes 220 can also be arranged in a square, triangular, polygonal or other arrangement. All the driving ropes 220 are divided into three groups with even spacing, that is, the angle between two adjacent groups of driving ropes 220 is 120°. For example, the working component 200 has 12 articulated arms 210 and 11 universal components 230. From the driving component 300 to the direction away from the driving component 300, there are the first articulated arm 210, the second articulated arm 210, the third articulated arm 210…the twelfth articulated arm 210. In each articulated arm 210, the number of rope threading holes on the first connecting plate 211 and the second connecting plate 212 are the same. And they are relatively arranged, and the rope threading holes on the first connecting plate 211 in each articulated arm 210 are divided into three groups. For example, the first connecting plate 211 in the ninth articulated arm 210 is provided with 12 rope threading holes, and these 12 rope threading holes are divided into three groups, with 4 rope threading holes in each group. In the counterclockwise direction, the line connecting the first rope threading hole from right to left in the first group and the center of the first connecting disk is line a, and the line connecting the first rope threading hole from right to left in the second group and the center of the first connecting disk is line b, and the angle between line a and line b is 120°. The same is true for the remaining articulated arms 210.

[0034] Preferably, the driving rope 220 is divided into three groups, and the difference in the number of rope threading holes on the first connecting plate 211 of two adjacent articulated arms 210 is three. For example, the working assembly 200 has 12 articulated arms 210 and 11 universal components 230. From the driving assembly 300 to the direction away from the driving assembly 300, there are the first articulated arm 210, the second articulated arm 210, the third articulated arm 210…the twelfth articulated arm 210, that is, the first connecting plate 211 and the second connecting plate 212 of the first articulated arm 210 have the same number of rope threading holes, and the second articulated arm 210 has the same number of rope threading holes. The number of rope threading holes formed on the first connecting plate 211 and the second connecting plate 212 in the articulated arm 210 is the same. The number of rope threading holes on the first connecting plate 211 in the first articulated arm 210 is three more than the number of rope threading holes on the first connecting plate 211 in the first articulated arm 210. The number of rope threading holes on the first connecting plate 211 in the second articulated arm 210 is three more than the number of rope threading holes on the first connecting plate 211 in the third articulated arm 210. The same is true for the third articulated arm 210 to the twelfth articulated arm 210, that is, the difference in the number of rope threading holes in each group of two adjacent articulated arms 210 is one.

[0035] Please refer to Figure 2The driving assembly 300 includes a protective shell 301 and a servo motor, a coupling 303, a working screw 304, a slider 305, a fixed pulley 306, a rope fixing block 307 and a working plate 302 arranged in the protective shell 301; the side of the protective shell 301 away from the joint arm 210 is open, and a plurality of working plates 302 are arranged from top to bottom in the protective shell 301, and a plurality of working screws 304 are evenly spaced on the upper surface of the working plate 302; the end of the working screw 304 away from the joint arm 210 is connected to the coupling 303 and the servo motor, and the end of the working screw 304 close to the joint arm 210 is connected to the rope fixing block 307; the working screw 304 is sleeved with a slider 305, and the slider 305 is connected to the fixed pulley 306. It should be noted that the side of the protective shell 301 away from the working component 200 is open, and multiple working plates 302 are arranged in the protective shell 301. The plane where the working plates 302 are located is parallel to the plane where the moving component 100 is located. Multiple working screws 304 are arranged at intervals on each working plate 302. The servo motor and the coupling 303 drive the rotation of the working screw 304. The rotation of the working screw 304 drives the slider 305 to realize reciprocating movement along the axis direction of the working screw 304. The fixed pulley 306 arranged on the slider 305 is used to drive the drive rope 220 to move while limiting the movement direction of the drive rope 220. On the other hand, the fixed pulley 306 can also be used to shorten the stroke of the drive rope 220 by half, thereby reducing the space occupied by the drive mechanism. The working plate 302 is away from the servo motor at one end. The rope fixing block 307 is used to limit the extension direction of the drive rope 220 to ensure the accuracy of the entire working component 200 during operation. Preferably, the number of the working plates 302 is five, and the five working plates 302 are arranged in sequence from top to bottom, and the number of the working screws 304 on the five working plates 302 is 6, 5, 6, 5, and 6 from top to bottom; in other embodiments of the present invention, the number of the working screws 304 on each layer of working plates 302 can also be equal, and the working screws 304 on two adjacent layers of working plates 302 can be one-to-one corresponding or staggered. Preferably, the fixed pulley 306 is connected to the slider 305 by bolts or screws.

[0036] Please refer to Figure 2A wire splitter 308 is provided between one end of the working plate 302 close to the articulated arm 210 and the inner wall of the protective shell 301, and a plurality of wire splitter holes 309 are provided on the wire splitter 308 at intervals, and the wire splitter holes 309 are arranged opposite to the working lead screw 304. It should be noted that a wire splitter 308 is provided in the protective shell 301, and the wire splitter 308 is used to allow the driving rope 220 to pass through and connect to the fixed pulley 306. The wire splitter 308 is arranged on the side of the working plate 302 away from the servo motor, and the wire splitter holes 309 provided on the wire splitter 308 correspond to the driving rope 220 in the working assembly 200, so that each driving rope 220 can be more conveniently realized to correspond to a servo motor, so that each driving rope 220 can be controlled by a servo motor alone, and the user can select the number of driving ropes 220 to work according to the specific working environment.

[0037] Please refer to Figure 3 The moving component 100 includes a mounting platform 102, a heavy-loaded lead screw 103, a driving motor 104, two sliding rails 101, an auxiliary block 105 and a sliding block 106 matched with the auxiliary block 105. The two heavy-loaded lead screws 103 are arranged in parallel and at intervals. The sliding rail 101 is arranged in parallel with the working lead screw 304. The mounting platform 102 is located on the sliding rail 101 and is connected to the lower bottom wall of the protective shell 301. The sliding rail 101 and the heavy-loaded lead screw 103 are both connected to the sliding block 106. A plurality of auxiliary blocks 105 are connected to the lower surface of the mounting platform 102. It should be noted that the driving motor 104 and the heavy-duty screw 103 are connected by a coupling 303, and the auxiliary block 105 is connected to the mounting platform 102 by bolts or screws. In detail, by controlling the operation of the driving motor 104, the driving motor 104 drives the rotation of the heavy-duty screw 103, and the rotation of the heavy-duty screw 103 drives the sliding block 106 to reciprocate in the axial direction of the heavy-duty screw 103, thereby realizing the reciprocating movement of the driving module mounted on the mounting platform 102, and improving the working space of the working component 200. Preferably, the sliding rails 101 can also be three, four or other numbers. Optionally, a sliding wheel can be set on the sliding rail 101, and the sliding wheel is connected to the lower surface of the mounting platform 102, which can avoid the friction between the lower surface of the mounting platform 102 and the sliding rail 101 and be damaged.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A rope-driven robotic arm, characterized in that: include: A moving component (100), a working component (200) and a driving component (300), wherein the driving component (300) is movably connected to the moving component (100), the working component (200) is connected to one side of the driving component (300), and the working component (200) and the moving component (100) are arranged in parallel; The working assembly (200) comprises a plurality of articulated arms (210) and a driving rope (220) for driving the articulated arms (210); the driving assembly (300) is respectively connected to the articulated arms (210) via the driving ropes (220); along the extending direction of the driving ropes (220), the diameters of the plurality of articulated arms (210) gradually decrease, wherein the articulated arm (210) with the largest diameter is close to the driving assembly (300); two adjacent articulated arms (210) are rotationally connected via a universal member (230); Each of the articulated arms (210) comprises a first connecting plate (211), a second connecting plate (212) and a connecting column (213), wherein a plurality of connecting columns (213) are evenly spaced and connected between the first connecting plate (211) and the second connecting plate (212); The diameter of the first connecting plate (211) is smaller than the diameter of the second connecting plate (212); the second connecting plate (212) is located on a side of the articulated arm (210) close to the driving assembly (300); the first connecting plate (211) and the second connecting plate (212) are both circular; the first connecting plate (211) and the second connecting plate (212) are parallel and coaxially arranged to form a truncated cone; the angle between the generatrix of the truncated cone and the axis is greater than 0 degrees and less than or equal to 10 degrees; The universal joint component (230) comprises a cross universal joint, two first support seats (231) and two second support seats (232), the two second support seats (232) are connected at intervals on one side of the second connecting plate (212), the two first support seats (231) are connected at intervals on one side of the first connecting plate (211), the two second support seats (232) and the two first support seats (231) are arranged in a cross shape, the cross universal joint comprises a circular connecting block (234) and four cylindrical connecting heads (235) evenly spaced and connected to the outer circle of the connecting block (234), the four connecting heads (235) are respectively connected to the two second support seats (232) and the two first support seats (231).

2. The rope-driven manipulator according to claim 1, characterized in that: Functional holes (233) are provided on the first connecting plate (211), the second connecting plate (212) and the connecting block (234).

3. The rope-driven manipulator according to claim 1, characterized in that: The second connecting plate (212) of each articulated arm (210) is connected to the driving assembly (300) via a driving rope (220); the driving rope (220) connected to the corresponding second connecting plate (212) passes through all the first connecting plates (211) and the second connecting plates (212) between the second connecting plate (212) and the driving assembly (300).

4. The rope-driven manipulator according to claim 1, characterized in that: All the driving ropes (220) are arranged in a ring shape and are divided into three groups with even intervals.

5. The rope-driven manipulator according to any one of claims 1 to 4, characterized in that: The driving assembly (300) comprises a protective shell (301) and a servo motor, a coupling (303), a working screw (304), a slider (305), a fixed pulley (306), a rope fixing block (307) and a working plate (302) arranged in the protective shell (301); The side of the protective shell (301) away from the joint arm (210) is open, and a plurality of working plates (302) are arranged at intervals from top to bottom in the protective shell (301), and a plurality of working screws (304) are arranged evenly spaced on the upper surface of the working plates (302); the end of the working screw (304) away from the joint arm (210) is connected to the coupling (303) and the servo motor, and the end of the working screw (304) close to the joint arm (210) is connected to the rope fixing block (307); the working screw (304) is sleeved with the sliding block (305), and the sliding block (305) is connected to the fixed pulley (306).

6. The rope-driven manipulator according to claim 5, characterized in that: A wire splitting plate (308) is arranged between one end of the working plate (302) close to the articulated arm (210) and the inner wall of the protective shell (301), and a plurality of wire splitting holes (309) are arranged at intervals on the wire splitting plate (308), and the wire splitting holes (309) are arranged opposite to the working lead screw (304).

7. The rope-driven manipulator according to claim 5, characterized in that: The moving assembly (100) comprises a mounting platform (102), a heavy-loaded lead screw (103), a driving motor (104), two sliding rails (101), an auxiliary block (105) and a sliding block (106) matched with the auxiliary block (105); the two heavy-loaded lead screws (103) are arranged in parallel and at intervals; the sliding rail (101) is arranged in parallel with the working lead screw (304); the mounting platform (102) is located on the sliding rail (101) and is connected to the lower bottom wall of the protective shell (301); the sliding rail (101) and the heavy-loaded lead screw (103) are both connected to the sliding block (106); and a plurality of the auxiliary blocks (105) are connected to the lower surface of the mounting platform (102).

Images