A wire-driven flexible robotic arm based on pulleys

Abstract

This invention discloses a pulley-based line-driven flexible robotic arm, comprising a vertebral segment, a receiving groove, a mounting groove, a second end plate, a joint assembly, a universal joint, a protrusion, a threaded hole, an ear plate, a bearing, a screw, a roller assembly, a connecting shaft, a fixed wheel, a mounting base, a tension wheel, a first guide wheel, a traction rope, a rope loop, a third end plate, and a second guide wheel. This invention utilizes a roller assembly instead of a rope hole, transforming the sliding friction between the traction rope and the rope hole into rolling friction, thereby reducing the frictional resistance on the traction rope and avoiding vibration during robotic arm movement, ensuring the robotic arm's motion accuracy. In this invention, the traction rope is looped onto the fixed wheel, achieving a fixed connection between the traction rope and the vertebral segment it drives, thus providing strong stability. The tension wheel provides preload to the traction rope, ensuring the stability of the traction rope's operation.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible mechanical arms, and in particular to a pulley-based wire-driven flexible mechanical arm. Background Art

[0002] The rope-driven flexible manipulator has multiple degrees of freedom and flexible deformation, can adapt to narrow working environments with multiple obstacles, and has broad application prospects in the fields of aerospace, nuclear industry, and medical treatment. At present, a common problem of rope-driven flexible manipulators is the low motion accuracy. Structurally, the existing rope-driven flexible manipulators all adopt a rope hole structure, and the driving rope needs to pass through the circular holes on all the preceding joint connecting plates to reach the driven joint. Due to the complex and changeable appearance of the manipulator during operation, on the one hand, there is sliding friction between the rope and the hole, and the friction resistance is large; on the other hand, in order to ensure the flexibility of the rope line, there is a certain gap between the rope and the hole, and the contact position and friction between the rope and the hole wall are not fixed, unstable, or even mutated, which leads to vibration during the movement of the manipulator, affecting the movement accuracy of the manipulator. Summary of the invention

[0003] The object of the present invention is to provide a pulley-based wire-driven flexible robotic arm to solve the problems raised in the above-mentioned background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a pulley-based wire-driven flexible robotic arm, comprising a vertebra, a first end plate, a second end plate, a joint assembly, a roller assembly and a traction rope, wherein a plurality of vertebrae are arranged at intervals with a plurality of joint assemblies, and two adjacent vertebrae are connected in series through the joint assembly, a first end plate is installed at both ends of the joint assembly, and the first end plate is fixedly connected to the vertebrae, the upper surface of the topmost vertebrae is fixedly connected to the second end plate, and the lower surface of the bottommost vertebrae is fixedly connected to the third end plate, a plurality of traction ropes are arranged on the third end plate, a plurality of roller assemblies are arranged on the traction rope, and the roller assembly is installed on the first end plate.

[0005] Preferably, the joint assembly includes a universal joint, a protrusion, a threaded hole, an ear plate, a bearing and a screw, and four protrusions are evenly distributed on the outer wall of the universal joint. Ear plates are fixedly connected at positions corresponding to two of the protrusions in the first end plate, and one end of the ear plate is hinged to the protrusion.

[0006] Preferably, a bearing is fixedly connected to the ear plate, a screw is fixedly connected to the inner wall of the bearing, a threaded hole is opened on the protrusion, and the screw is threadedly connected in the threaded hole.

[0007] Preferably, a plurality of first hollow grooves are formed on the vertebral segment, and a plurality of second hollow grooves are formed on the first end plate and the third end plate.

[0008] Preferably, both ends of the vertebral segment are fixedly connected with flange plates, and the first end plate, the second end plate and the third end plate are all fixedly connected to the flange plates.

[0009] Preferably, a plurality of accommodating grooves are evenly distributed on the first end plate and the third end plate, and mounting grooves are provided on inner walls on both sides of the accommodating grooves.

[0010] Preferably, the roller assembly includes a connecting shaft, a fixed wheel, a mounting seat, a tensioning wheel and a first guide wheel. Three fixed wheels are evenly distributed on the first end plate at the bottom end of each vertebral segment. A rope ring is provided at one end of the traction rope, and the rope ring is sleeved on the fixed wheel. The first end plate located at the top end of each vertebral segment is provided with a first guide wheel at the position corresponding to the fixed wheel on all the upper vertebral segments, a tensioning wheel is provided on one side of the first guide wheel, and a second guide wheel is installed on the third end plate at the position corresponding to the first guide wheel on the bottom first end plate, and the traction rope is transmission-connected to the tensioning wheel, the first guide wheel and the second guide wheel.

[0011] Preferably, the fixed wheel, the first guide wheel and the second guide wheel are all installed in the accommodating groove, and the tensioning wheel is arranged on the upper surface of the first end plate.

[0012] Preferably, the fixed wheel, the first guide wheel and the second guide wheel are all equipped with connecting shafts, and both ends of the connecting shafts are respectively fixedly connected in two mounting grooves.

[0013] Preferably, a mounting seat is installed on the tensioning wheel, and the mounting seat is fixedly connected to the upper surface of the first end plate.

[0014] The present invention provides a pulley-based wire-driven flexible robotic arm, which has the following advantages: the present invention utilizes a roller assembly instead of a rope hole, so that the sliding friction between the traction rope and the rope hole is converted into rolling friction, thereby reducing the friction resistance of the traction rope, thereby avoiding the vibration problem during the movement of the robotic arm and ensuring the movement accuracy of the robotic arm; the traction rope in the present invention is put on the fixed wheel through a rope ring, so that the traction rope is fixedly connected to the vertebra driven by itself, and thus has strong stability; the present invention utilizes a tensioning wheel to provide a pre-tightening force for the traction rope, so as to ensure the stability of the traction rope operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0017] Figure 2 for Figure 1 A magnified view of the structure in the middle A area;

[0018] Figure 3 for Figure 1 A magnified view of the structure in the middle B area;

[0019] Figure 4 It is a schematic diagram of the three-dimensional structure of the vertebral segment of the present invention;

[0020] Figure 5 It is a schematic diagram of the three-dimensional structure of the first end plate of the present invention;

[0021] Figure 6 It is a schematic diagram of the three-dimensional structure of the universal joint of the present invention;

[0022] Figure 7 It is a schematic diagram of the three-dimensional structure of the tensioning wheel of the present invention;

[0023] Figure 8 It is a schematic diagram of the three-dimensional structure of the fixed wheel of the present invention;

[0024] Fig. 9 It is a schematic diagram of the traction rope path of the present invention.

[0025] In the figure: 1. vertebral segment; 11. first hollow groove; 12. flange plate; 2. first end plate; 21. second hollow groove; 22. receiving groove; 23. mounting groove; 3. second end plate; 4. joint assembly; 41. universal joint; 42. bump; 43. threaded hole; 44. ear plate; 45. bearing; 46. screw; 5. roller assembly; 51. connecting shaft; 52. fixed wheel; 53. mounting seat; 54. tensioning wheel; 55. first guide wheel; 6. traction rope; 61. rope ring; 7. third end plate; 71. second guide wheel. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1-9The present invention provides an embodiment: a pulley-based line-driven flexible robotic arm, comprising a vertebral segment 1, a first end plate 2, a second end plate 3, a joint assembly 4, a roller assembly 5 and a traction rope 6, wherein a plurality of vertebral segments 1 and a plurality of joint assemblies 4 are arranged at intervals, and two adjacent vertebral segments 1 are connected in series through the joint assembly 4, a first end plate 2 is installed at both ends of the joint assembly 4, and the first end plate 2 is fixedly connected to the vertebral segment 1, a second end plate 3 is fixedly connected to the upper surface of the topmost vertebral segment 1, a third end plate 7 is fixedly connected to the lower surface of the bottommost vertebral segment 1, and a roller assembly 5 is provided on the third end plate 7. A plurality of traction ropes 6 are arranged, and a plurality of roller assemblies 5 are arranged on the traction ropes 6, and the roller assemblies 5 are installed on the first end plate 2. The vertebrae 1 are hinged by the joint assembly 4, and driven by the traction rope 6 to achieve the effect of a flexible mechanical arm. The traction rope 6 is connected to the vertebrae 1 through the roller assembly 5, which can reduce friction resistance, thereby avoiding the vibration problem during the movement of the mechanical arm and ensuring the movement accuracy of the mechanical arm; the joint assembly 4 includes a universal joint 41, a protrusion 42, a threaded hole 43, an ear plate 44, a bearing 45 and a screw 46. The outer wall of the universal joint 41 Four protrusions 42 are evenly distributed on the first end plate 2, and ear plates 44 are fixedly connected at positions corresponding to two of the protrusions 42 in the first end plate 2, and one end of the ear plate 44 is hinged on the protrusion 42, and the joint assembly 4 hinges two adjacent first end plates 2 to the universal joint 41 through the ear plates 44; a bearing 45 is fixedly connected to the ear plate 44, and a screw 46 is fixedly connected to the inner wall of the bearing 45. A threaded hole 43 is opened on the protrusion 42, and the screw 46 is threadedly connected in the threaded hole 43. The threaded hole 43 on the protrusion 42 is used to install the screw 46, and the screw 46 is used to fix the bearing 4 5, the bearing 45 is used to assist the rotation between the ear plate 44 and the universal joint 41; a plurality of first hollow grooves 11 are provided on the vertebral segment 1, and a plurality of second hollow grooves 21 are provided on the first end plate 2 and the third end plate 7, and the first hollow grooves 11 and the second hollow grooves 21 are used to reduce the weight of the parts; both ends of the vertebral segment 1 are fixedly connected with flange plates 12, and the first end plate 2, the second end plate 3 and the third end plate 7 are fixedly connected to the flange plate 12; a plurality of receiving grooves 22 are uniformly distributed on the first end plate 2 and the third end plate 7, and mounting grooves 23 are provided on the inner walls of both sides of the receiving grooves 22;The roller assembly 5 includes a connecting shaft 51, a fixed wheel 52, a mounting seat 53, a tensioning wheel 54 and a first guide wheel 55. Three fixed wheels 52 are evenly distributed on the first end plate 2 at the bottom end of each vertebral segment 1. A rope ring 61 is provided at one end of the traction rope 6, and the rope ring 61 is sleeved on the fixed wheel 52. The first end plate 2 at the top end of each vertebral segment 1 is provided with a first guide wheel 55 corresponding to the position of the fixed wheel 52 on all upper vertebral segments 1. A tensioning wheel 54 is provided on one side of the first guide wheel 55. A second guide wheel 71 is installed on the third end plate 7 at a position corresponding to the first guide wheel 55 on the bottom first end plate 2. The traction rope 6 is transmission-connected to the tensioning wheel 54, the first guide wheel 55 and the second guide wheel 71. The first guide wheel 5 5. The tensioning wheel 54 and the second guide wheel 71 are used to guide the traction rope 6, and the tensioning wheel 54 is also used to tension the traction rope 6; the fixed wheel 52, the first guide wheel 55 and the second guide wheel 71 are all installed in the receiving groove 22, and the tensioning wheel 54 is arranged on the upper surface of the first end plate 2, and the receiving groove 22 is used to accommodate the fixed wheel 52, the first guide wheel 55 and the second guide wheel 71; the fixed wheel 52, the first guide wheel 55 and the second guide wheel 71 are all installed with a connecting shaft 51, and the two ends of the connecting shaft 51 are respectively fixedly connected to the two mounting grooves 23, and the mounting grooves 23 are used to install the connecting shaft 51; the tensioning wheel 54 is installed with a mounting seat 53, and the mounting seat 53 is fixedly connected to the upper surface of the first end plate 2, and the mounting seat 53 is used to install the tensioning wheel 54. ;

[0028] Working principle: When using the present invention, the third end plate 7 is fixed on the driving device, the traction rope 6 is connected to the output end of the driving device, and the end effector is installed on the second end plate 3. The corresponding traction rope 6 is pulled by the driving device to drive the fixed wheel 52 sleeved by the rope ring 61, thereby driving the first end plate 2 equipped with the fixed wheel 52, so that it is deflected through the joint assembly 4, so that the corresponding vertebra 1 completes the deflection action, thereby controlling the position of the end effector; wherein, the joint assembly 4 hinges two adjacent first end plates 2 to the universal joint 41 through the ear plate 44, and the threaded hole 43 on the protrusion 42 is used to install the screw 46, The screw 46 is used to fix the bearing 45, and the bearing 45 is used to assist the rotation between the ear plate 44 and the universal joint 41. The first hollow groove 11 and the second hollow groove 21 are used to reduce the weight of the parts. The flange plate 12 is used to install the first end plate 2, the second end plate 3 and the third end plate 7. The accommodating groove 22 is used to accommodate the fixed wheel 52, the first guide wheel 55 and the second guide wheel 71. The installation groove 23 is used to install the connecting shaft 51. The mounting seat 53 is used to install the tensioning wheel 54. The first guide wheel 55, the tensioning wheel 54 and the second guide wheel 71 are used to guide the traction rope 6. The tensioning wheel 54 is also used to tension the traction rope 6. The vertebra 1 and the flange plate 12 are an integrated structure.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pulley-based wire-driven flexible robotic arm, comprising a vertebra (1), a first end plate (2), a second end plate (3), a joint assembly (4), a roller assembly (5) and a traction rope (6), characterized in that: The plurality of vertebrae (1) and the plurality of joint assemblies (4) are arranged at intervals, and two adjacent vertebrae (1) are connected in series via the joint assemblies (4); first end plates (2) are installed at both ends of the joint assemblies (4), and the first end plates (2) are fixedly connected to the vertebrae (1); the upper surface of the topmost vertebrae (1) is fixedly connected to the second end plate (3); the lower surface of the bottommost vertebrae (1) is fixedly connected to the third end plate (7); the third end plate (7) is provided with a plurality of traction ropes (6); the traction ropes (6) are provided with a plurality of roller assemblies (5), and the roller assemblies (5) are installed on the first end plate (2); The joint assembly (4) comprises a universal joint (41), a protrusion (42), a threaded hole (43), an ear plate (44), a bearing (45) and a screw (46); four protrusions (42) are evenly distributed on the outer wall of the universal joint (41); an ear plate (44) is fixedly connected to positions corresponding to two of the protrusions (42) in the first end plate (2); and one end of the ear plate (44) is hinged to the protrusion (42); a bearing (45) is fixedly connected to the ear plate (44); a screw (46) is fixedly connected to the inner wall of the bearing (45); a threaded hole (43) is provided on the protrusion (42), and the screw (46) is threadedly connected to the threaded hole (43); The roller assembly (5) comprises a connecting shaft (51), a fixed wheel (52), a mounting seat (53), a tension wheel (54) and a first guide wheel (55). Three fixed wheels (52) are evenly distributed on the first end plate (2) at the bottom end of each vertebral segment (1). A rope ring (61) is provided at one end of the traction rope (6), and the rope ring (61) is sleeved on the fixed wheel (52). The first guide wheel (55) is provided at the position corresponding to the fixed wheels (52) on all upper vertebral segments (1) on the first end plate (2) at the top end of each vertebral segment (1). A tension wheel (54) is provided on one side of the first guide wheel (55). A second guide wheel (71) is installed on the third end plate (7) at the position corresponding to the first guide wheel (55) on the bottom end first end plate (2), and the traction rope (6) is transmission-connected to the tension wheel (54), the first guide wheel (55) and the second guide wheel (71).

2. A pulley-based wire-driven flexible robotic arm according to claim 1, characterized in that: The vertebral segment (1) is provided with a plurality of first hollow grooves (11), and the first end plate (2) and the third end plate (7) are both provided with a plurality of second hollow grooves (21).

3. The pulley-based wire-driven flexible robotic arm according to claim 1, characterized in that: Both ends of the vertebral segment (1) are fixedly connected to flange plates (12), and the first end plate (2), the second end plate (3) and the third end plate (7) are all fixedly connected to the flange plates (12).

4. The pulley-based wire-driven flexible robotic arm according to claim 3, characterized in that: A plurality of accommodating grooves (22) are evenly distributed on the first end plate (2) and the third end plate (7), and mounting grooves (23) are provided on inner walls on both sides of the accommodating grooves (22).

5. The pulley-based wire-driven flexible robotic arm according to claim 1, characterized in that: The fixed wheel (52), the first guide wheel (55) and the second guide wheel (71) are all installed in the accommodating groove (22), and the tensioning wheel (54) is arranged on the upper surface of the first end plate (2).

6. The pulley-based wire-driven flexible robotic arm according to claim 5, characterized in that: The fixed wheel (52), the first guide wheel (55) and the second guide wheel (71) are all mounted with a connecting shaft (51), and both ends of the connecting shaft (51) are respectively fixedly connected to the two mounting grooves (23).

7. The pulley-based wire-driven flexible robotic arm according to claim 5, characterized in that: A mounting seat (53) is mounted on the tension wheel (54), and the mounting seat (53) is fixedly connected to the upper surface of the first end plate (2).

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