Synchronous under-actuated mechanism with adjustable rope length

Abstract

The utility model discloses a rope length adjustable synchronous under-actuated mechanism which comprises three lead screw sliding block devices and two sets of belt wheel devices, a first lead screw is connected with a motor through a coupler, a second lead screw shaft is connected with a first lead screw shaft through a set of belt wheel devices, and a second lead screw shaft is connected with a second lead screw shaft through a set of belt wheel devices. The third lead screw is connected with the second lead screw shaft through the other group of belt wheel mechanism; only a single motor is needed to output control torque, the length control of the three steel wire ropes can be achieved, energy is effectively saved, the weight is reduced, the flexibility of the system is enhanced, and the manufacturing cost of a driving part is reduced.

Description

Technical Field

[0001] The utility model relates to the field of a robot driving device, in particular to a synchronous under-driven mechanism with adjustable rope length. Background Art

[0002] A synchronous under-actuated mechanism with adjustable rope length is mainly used for controlling the length of the steel wire rope of a rope-driven serpentine arm. At present, the driving unit of the serpentine arm generally uses a motor plus a screw slider module to control the full drive mechanism of a steel wire rope. For a serpentine arm robot with n joint arms, 3n motors are required.

[0003] The existing full-drive mechanism has the following shortcomings: each motor corresponds to a wire rope, the number of drives required is large, and the mass of the entire drive box is heavy; there is a certain length error after the wire rope is made and installed, and the length error of the wire rope is random. For a full-drive serpentine arm with one motor corresponding to one wire rope, the length error of each wire rope can be eliminated by rotating the motor to keep the serpentine arm horizontal. However, in the synchronous under-drive mechanism, the number of motors is less than the number of wire ropes, and the length error of the wire rope does not have a linear relationship, so the rope length error cannot be eliminated directly by the motor. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings, the utility model aims to provide a technical solution for solving the above-mentioned problems by providing a synchronous under-driven mechanism with adjustable rope length.

[0005] As a further solution of the utility model:

[0006] A synchronous under-driven mechanism with adjustable rope length comprises three screw slider devices and two groups of pulley devices, wherein the first screw is connected to the motor through a coupling, the second screw shaft is connected to the first screw shaft through a group of pulley mechanisms, and the third screw is connected to the second screw shaft through another group of pulley mechanisms.

[0007] Furthermore, the screw rod and slider device includes a rope end fixing seat, a slider and a wire rope, the rope end fixing seat is installed on the upper end of the slider, one end of the wire rope is installed on the rope end fixing seat, and the slider is movably installed on the screw rod.

[0008] Furthermore, a slider fixing frame is provided at the upper end of the slider, and the rope head fixing seat is located in the slider fixing frame.

[0009] Furthermore, the other end of the coupling is mounted on the output end of the motor.

[0010] Furthermore, the rope length adjustment device is provided with a self-made rope head and a rope head fixing seat for fixing and assembling the position of the steel wire rope.

[0011] Furthermore, the steel wire rope is movably mounted on the rope end fixing seat by setting an adjusting screw.

[0012] Compared with the prior art, the utility model has the following beneficial effects: when driving, the utility model only needs a single motor to output the control torque, which can realize the length control of three steel ropes, effectively save energy, reduce weight, enhance the flexibility of the system and reduce the cost of the driving part. When installing the rope, a self-made rope head and rope head fixing seat are used, which is easy to install. The rope length can be adjusted by adjusting the hexagon socket cylindrical head screw. The structure is simple and the adjustment is convenient.

[0013] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the utility model 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 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 labor.

[0015] Figure 1 The utility model is a schematic diagram of a synchronous under-driven mechanism in which a single motor with a rope length adjustment device controls three steel ropes.

[0016] Figure 2 It is a schematic diagram of a slider device of the utility model.

[0017] Figure 3 Schematic diagram of wire rope passing of synchronous under-actuated mechanism with adjustable rope length.

[0018] In the figure: 1-motor, 3-pulley device, 4-adjusting screw, 5-synchronous under-driving mechanism, 7-slider fixing frame, 8-rope head fixing seat, 9-wire rope, 10-coupling, 11-slider. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. 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.

[0020] Further Figure 1 to Figure 3As shown, a synchronous under-driven mechanism 5 with adjustable rope length is provided, wherein the driving mechanism comprises three lead screw slider devices and two sets of pulley devices 3, wherein the first lead screw is connected to the motor 1 via a coupling 10, the second lead screw shaft is connected to the first lead screw shaft via a set of pulley devices 3, and the third lead screw is connected to the second lead screw shaft via another set of pulley devices; by installing two sets of pulley devices 3 between the three sets of lead screw sliders, synchronous driving of the three sets of lead screws is achieved, and when the motor 1 drives one set of lead screws of the three sets of lead screw sliders to rotate, the three sets of lead screws can be driven simultaneously by the pulley device 3.

[0021] Further Figure 1 In the embodiment of the utility model, the screw rod and slider device includes a rope head fixing seat 8, a slider and a wire rope, the rope head fixing seat 8 is installed on the upper end of the slider 11, one end of the wire rope is installed on the rope head fixing seat 8, and the slider 11 is movably installed on the screw rod; Figure 1 As shown, there are three groups of lead screws driven synchronously by the pulley device 3, and a slider 11 is movably installed on the lead screw of each group, and a wire rope 9 is installed on the slider 11. The lead screw is driven to rotate by the motor 1, driving the slider 11 to make a linear motion. The three groups of sliders 11 located on the lead screw move synchronously, causing the wire rope 9 to be displaced, and the extension amount of the wire rope 9 at the end of the lead screw away from the coupling 10 changes.

[0022] Further Figure 1-2 As shown, a slider fixing frame 3 is provided at the upper end of the slider 11 , and a rope end fixing seat 8 is located inside the slider fixing frame 3 .

[0023] Further Figure 1-Figure 2 As shown, in the embodiment of the utility model, the steel wire rope is movably mounted on the rope head fixing seat 8 by setting an adjusting screw; when the motor 1 rotates, the lengths of the three steel wire ropes can be changed proportionally by displacement of the slider, thereby driving the corresponding serpentine arm joints to rotate; due to the error between the actual length and the calculated value during the manufacture and installation of the steel wire rope, and the errors of the three steel wire ropes are random and there is no linear relationship. The rope length error cannot be eliminated by rotating the motor. The initial rope length error needs to be eliminated by adjusting the adjusting screw to change the steel wire rope;

[0024] Further Figure 2 As shown, in the embodiment of the utility model, the slider fixing frame 3 is fixed to the slider, and the steel wire rope is fixed to the rope length fixing seat 2 through a self-made rope head. By rotating the hexagon socket head adjusting screw 4, which is also the adjusting screw, the rope length fixing seat 2 will slide in the slider fixing frame 3, and at the same time drive the steel wire rope 9 to move, so as to adjust the initial rope length of the three steel wire ropes 9 and eliminate the initial rope length error of the steel wire rope 9.

[0025] Further Figure 3As shown, in an embodiment of the utility model, a plurality of groups of synchronous under-driven mechanisms 5 are provided, and the steel wire rope 9 is connected to the serpentine arm. The synchronous under-driven mechanism 5 is driven by the motor 1, so that the steel wire rope 9 moves, and then the serpentine arm connected to one end of the steel wire rope 9 changes shape as the steel wire rope is extended and retracted. Each group of synchronous under-driven mechanisms 5 is provided with a motor 1 to realize synchronous driving of the steel wire rope, which effectively reduces the number of installed motors 1 and saves costs.

[0026] The implementation process of the synchronous underactuated mechanism is as follows: Figure 1 As shown, the motor is connected to the screw rod 12 through the coupling 10, and the torque is output to the screw rod 12, so that the slider 11 drives the steel wire rope to move forward and backward, and the length of the steel wire rope 9 is changed. The screw rod 12 is connected to the output end of the motor, and the output end of the motor 1 transmits the torque to the screw rod 5, so that the slider 11 drives the steel wire rope 9 to move forward and backward, and the length of the steel wire rope 9 is changed. That is, after the motor 1 inputs the torque, the three screw rods will rotate in the same direction and proportion, so that the three sliders 1 move in the same direction and proportion, and then control the length of the three steel wire ropes 9 to change in proportion, and realize the synchronous under-drive of single input controlling three outputs.

[0027] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention.

[0028] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present invention is limited by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention.

Claims

1. A synchronous under-actuated mechanism with adjustable rope length, characterized in that: The synchronous under-driven mechanism comprises three screw slider devices and two groups of pulley devices (3), wherein the first screw is connected to the motor through a coupling, the second screw shaft is connected to the first screw shaft through a group of pulley mechanisms, and the third screw is connected to the second screw shaft through another group of pulley mechanisms.

2. A synchronous under-actuated mechanism with adjustable rope length according to claim 1, characterized in that: The lead screw and slider device comprises a rope end fixing seat (8), a slider (11) and a steel wire rope (9); the rope end fixing seat (8) is mounted on the upper end of the slider (11); one end of the steel wire rope (9) is mounted on the rope end fixing seat (8); and the slider (11) is movably mounted on the lead screw.

3. A synchronous under-actuated mechanism with adjustable rope length according to claim 2, characterized in that: A slider fixing frame (7) is provided at the upper end of the slider, and the rope head fixing seat (8) is located inside the slider fixing frame (7).

4. A synchronous under-actuated mechanism with adjustable rope length according to claim 3, characterized in that: The other end of the coupling is mounted with the output end of the motor.

5. The driving mechanism according to claim 4, characterized in that: The steel wire rope is movably mounted on the rope end fixing seat (8) by arranging an adjusting screw (4).

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