Rope-driven flexible mechanical arm joint device

Abstract

The utility model discloses a rope-driven flexible mechanical arm joint device which comprises a driving mechanical arm rod, a driving motor, a driving rope, a first pulley, a second pulley, a driven mechanical arm rod, a first fixing column, a second fixing column, a connecting rod, a third fixing column and a fourth fixing column. Compared with the prior art, the driving motor is moved into the driving mechanical arm rod from the joint, so that the overall flexibility of the device is greatly improved; the joint device is simple and easy to operate and expand, and the number of the joints and the number of the pulleys can be correspondingly increased according to requirements so as to improve the degree of freedom; therefore, according to the rope-driven flexible mechanical arm joint device, the mechanism of a traditional mechanical arm joint is optimized, the complexity of the structure is simplified, and the maintenance and repair cost of the device is greatly reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot devices, in particular to a rope-driven flexible mechanical arm joint device. Background Art

[0002] The robot is a complex system with uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling model of the robot also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robot joint space, so as to cascade and form the terminal posture.

[0003] There are specific types of robotic arms available on the market, such as six main types: articulated, parallel link or incremental, Cartesian, cylindrical, SCARE, and collaborative. Most of these robotic arms are equipped with drive motors at the joints, and the overall robotic arm is slightly bulky, and the joint structure of traditional robotic arms is expensive. Utility Model Content

[0004] The utility model provides a rope-driven flexible mechanical arm joint device, which can solve the problems in the prior art that the mechanical arm joint structure is bulky and the traditional mechanical arm joint structural parts are expensive.

[0005] To solve the above problems, the technical solutions provided by the present invention are as follows:

[0006] The utility model provides a rope-driven flexible mechanical arm joint device, which comprises an active mechanical arm rod (1), a driving motor (2), a driving rope (3), a first pulley (41), a second pulley (42), a passive mechanical arm rod (5), a first fixed column (61), a second fixed column (62), a connecting rod (7), a third fixed column (81) and a fourth fixed column (82);

[0007] The active mechanical arm (1) is movably connected to the passive mechanical arm (5) via a connecting rod (7); the driving motor (2) is arranged in a cavity of the active mechanical arm (1); two first pulleys (41) and two second pulleys (42) are symmetrically distributed on the upper and lower sides of the end of the active mechanical arm (1) connected to the connecting rod (7); and a first fixing column (61) and a second fixing column (62) are symmetrically distributed on the upper and lower sides of the end of the passive mechanical arm (5) connected to the connecting rod (7);

[0008] One end of the driving rope (3) is fixed to the first fixing column (61) of the passive mechanical arm (5), then passes around two first pulleys (41) on one side of the active mechanical arm (1), reaches the rotating shaft of the driving motor (2), is wound out from the rotating shaft of the driving motor (2), passes through two second change-direction pulleys (42) on the other side of the active mechanical arm (1), and is fixed to the second fixing column (62) of the passive mechanical arm (5);

[0009] A third fixing column (81) is also provided on the upper and lower sides of the end portion of the active mechanical arm (1) connected to the connecting rod (7); a fourth fixing column (82) is also provided on the upper and lower sides of the end portion of the passive mechanical arm (5) connected to the connecting rod (7); the third fixing column (81) is used to control the rotation angle of the connecting rod (7); and the fourth fixing column (82) is used to control the rotation angle of the passive mechanical arm (5).

[0010] According to an optional embodiment of the utility model, the active mechanical arm (1) and the passive mechanical arm (5) are both aluminum alloy shell structures.

[0011] According to an optional embodiment of the utility model, the rotation angle of the connecting rod (7) is 0 to 180°.

[0012] Beneficial effect: The embodiment of the utility model provides a rope-driven flexible mechanical arm joint device, including an active mechanical arm rod, a driving motor, a driving rope, a first pulley, a second pulley, a passive mechanical arm rod, a first fixed column, a second fixed column, a connecting rod, a third fixed column and a fourth fixed column; compared with the prior art, the driving motor is moved from the joint to the arm rod, which greatly increases the flexibility of the entire mechanism; the joint structure is simple, easy to operate, and easy to expand. The number of joints and the number of pulleys can be increased accordingly according to demand to increase the degree of freedom. Therefore, the rope-driven flexible mechanical arm joint device optimizes the mechanism of the traditional mechanical arm joint, simplifies the complexity of the structure, and greatly reduces the cost of device maintenance and repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments or 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 only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 A schematic diagram of the overall structure of a rope-driven flexible robotic arm joint device provided in an embodiment of the present application.

[0015] Figure 2This is a front view of a rope-driven flexible robotic arm joint device provided in an embodiment of the present application.

[0016] Figure 3 This is a left view of a rope-driven flexible robotic arm joint device provided in an embodiment of the present application.

[0017] Figure 4 A top view of a rope-driven flexible robotic arm joint device provided in an embodiment of the present application.

[0018] Figure 5 A schematic diagram of a rope-driven flexible robotic arm joint device rotating at a certain angle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0020] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, an embodiment of the utility model provides a structural schematic diagram of a rope-driven flexible mechanical arm joint device. The rope-driven flexible mechanical arm joint device includes an active mechanical arm rod 1, a driving motor 2, a driving rope 3, a first pulley 41, a second pulley 42, a passive mechanical arm rod 5, a first fixed column 61, a second fixed column 62, a connecting rod 7, a third fixed column 81 and a fourth fixed column 82.

[0021] The active mechanical arm rod 1 is movably connected to the passive mechanical arm rod 5 through the connecting rod 7. The driving motor 2 is arranged in the cavity of the active mechanical arm rod 1, and the driving motor 2 is used to rotate the driving rope 3. Two first pulleys 41 and two second pulleys 42 are symmetrically distributed on the upper and lower sides of the end of the active mechanical arm rod 1 connected to the connecting rod 7. The first pulley 41 and the second pulley 42 are used to change the position where the driving rope 3 is bypassed.

[0022] The first fixing column 61 and the second fixing column 62 are symmetrically distributed on the upper and lower sides of the end of the passive mechanical arm rod 5 connected to the connecting rod 7; the first fixing column 61 and the second fixing column 62 are respectively used to fix the two ends of the driving rope 3. The third fixing column 81 is also provided on the upper and lower sides of the end of the active mechanical arm rod 1 connected to the connecting rod 7, and the fourth fixing column 82 is also provided on the upper and lower sides of the end of the passive mechanical arm rod 5 connected to the connecting rod 7. The third fixing column 81 is used to control the rotation angle of the connecting rod 7, and the fourth fixing column 82 is used to control the rotation angle, that is, the swing angle, of the passive mechanical arm rod 5. Preferably, the active mechanical arm rod 1 and the passive mechanical arm rod 5 are both aluminum alloy shell structures. The rotation angle of the connecting rod 7 is 0 to 180°.

[0023] One end of the driving rope 3 is fixed on the first fixed column 61 of the passive mechanical arm rod 5, and then passes through the two first pulleys 41 on one side of the active mechanical arm rod 1, reaches the rotating shaft of the driving motor 2, and is wound out from the rotating shaft of the driving motor 2, passes through the two second change-direction pulleys 42 on the other side of the active mechanical arm rod 1, and is fixed to the second fixed column 62 of the passive mechanical arm rod 5. In order to increase the stability of the mechanical arm movement, the fixed column of the passive mechanical arm rod 5 and the change-direction pulley of the active mechanical arm rod 1 can be wound multiple times. The connecting rod 7 is used to support and connect the active mechanical arm rod 1 and the passive mechanical arm rod 5. The active mechanical arm rod 1 and the passive mechanical arm rod 5 both contain small fixed columns on the upper and lower sides. The small fixed column (third fixed column 81) in the active mechanical arm rod 1 is used to control the rotation angle of the connecting rod, and the small fixed column (fourth fixed column 82) in the passive mechanical arm rod 5 is used to control the rotation angle of the passive mechanical arm rod 5.

[0024] Moving the drive motor from the joint to the arm greatly increases the flexibility of the entire mechanism. The joint structure is simple and easy to expand. The number of joints and pulleys can be increased accordingly according to needs to increase the degree of freedom. The rope-driven flexible robot arm joint device optimizes the mechanism of the traditional robot arm joint, simplifies the complexity of the structure, has a simple structure, is easy to operate, and greatly reduces the cost of device maintenance and repair.

[0025] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A rope-driven flexible mechanical arm joint device, characterized in that: It comprises an active mechanical arm rod (1), a driving motor (2), a driving rope (3), a first pulley (41), a second pulley (42), a passive mechanical arm rod (5), a first fixing column (61), a second fixing column (62), a connecting rod (7), a third fixing column (81) and a fourth fixing column (82); The active mechanical arm (1) is movably connected to the passive mechanical arm (5) via a connecting rod (7); the driving motor (2) is arranged in a cavity of the active mechanical arm (1); two first pulleys (41) and two second pulleys (42) are symmetrically distributed on the upper and lower sides of the end of the active mechanical arm (1) connected to the connecting rod (7); and a first fixing column (61) and a second fixing column (62) are symmetrically distributed on the upper and lower sides of the end of the passive mechanical arm (5) connected to the connecting rod (7); One end of the driving rope (3) is fixed to the first fixing column (61) of the passive mechanical arm (5), then passes around two first pulleys (41) on one side of the active mechanical arm (1), reaches the rotating shaft of the driving motor (2), is wound out from the rotating shaft of the driving motor (2), passes through two second change-direction pulleys (42) on the other side of the active mechanical arm (1), and is fixed to the second fixing column (62) of the passive mechanical arm (5); A third fixing column (81) is also provided on the upper and lower sides of the end portion of the active mechanical arm (1) connected to the connecting rod (7); a fourth fixing column (82) is also provided on the upper and lower sides of the end portion of the passive mechanical arm (5) connected to the connecting rod (7); the third fixing column (81) is used to control the rotation angle of the connecting rod (7); and the fourth fixing column (82) is used to control the rotation angle of the passive mechanical arm (5).

2. A rope-driven flexible mechanical arm joint device according to claim 1, characterized in that: The active mechanical arm (1) and the passive mechanical arm (5) are both aluminum alloy shell structures.

3. The rope-driven flexible mechanical arm joint device according to claim 1, characterized in that: The rotation angle of the connecting rod (7) is 0 to 180 degrees.

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