Rope-driven mechanical arm

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly discloses a rope-driven mechanical arm which comprises an installation bottom plate, a lower seat cylinder is installed on the left side of the upper surface of the installation bottom plate, an upper supporting arm is arranged on the upper portion of the lower seat cylinder, a swing arm is arranged at the upper end of the upper supporting arm, and an execution end installation seat is arranged at the end, away from the upper supporting arm, of the swing arm. A mechanical executing end is arranged on the side, away from the swing arm, of the executing end mounting base, a first supporting shaft is fixedly connected to the inner lower side of the upper supporting arm and is hollow, and the lower side of the first supporting shaft is rotationally connected with the inner upper side of the lower base cylinder through a bearing. According to the mechanical arm, the three driving motors are arranged on the outer side and drive the first supporting shaft, the second supporting shaft and the third supporting shaft to rotate through the driving ropes correspondingly, so that the upper supporting arm, the swing arm and the execution end mounting base operate, in this way, the three driving motors are arranged outside, the weight of the mechanical arm is reduced, and the mechanical arm is convenient to overhaul.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, and particularly relates to a rope-driven robotic arm. Background Art

[0002] A robotic arm is an automated mechanical device that has been most widely and practically applied in the field of robotics. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration and other fields. Although they have different forms, they all have a common feature, that is, they can accept instructions and accurately locate a certain point in three-dimensional (or two-dimensional) space for operation.

[0003] At present, the existing robotic arms are mainly based on pneumatic control, hydraulic control or servo control. The weight on the robotic arm is relatively large, the force is uneven, and it is prone to failure. In case of failure, due to the relatively complex structure, it is difficult to disassemble. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a rope-driven robotic arm to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A rope-driven robotic arm, including a mounting base plate. On the left side of the upper surface of the mounting base plate, a lower seat cylinder is installed. An upper support arm is arranged on the upper part of the lower seat cylinder. A swing arm is arranged at the upper end of the upper support arm. An execution end mounting seat is arranged at the end of the swing arm away from the upper support arm. A mechanical execution end is arranged on the side of the execution end mounting seat away from the swing arm.

[0006] A support shaft one is fixedly connected to the inner lower side of the upper support arm. The support shaft one is hollow. The lower side of the support shaft one is rotationally connected to the upper inner side of the lower seat cylinder through a bearing. The upper end of the upper support arm is rotationally connected to a support shaft two through a bearing. One end of the swing arm is fixedly connected to the support shaft two. The other end of the swing arm is rotationally connected to a support shaft three through a bearing. The support shaft three is fixedly connected to one end of the execution end mounting seat.

[0007] Three driving motors are further arranged on the mounting base plate. Rope reels are arranged on the output shafts of the three driving motors. Driving ropes are wound around the rope reels. The driving ropes on the three rope reels are respectively wound around the outer walls of the support shaft one, the support shaft two and the support shaft three.

[0008] Preferably, an angle sensor one and an angle sensor two are respectively installed on the lower inner side of the lower seat cylinder and one side of the inner part of the execution end mounting seat. The angle sensor one and the angle sensor two are coaxially connected to the support shaft one and the support shaft three respectively. The signal output ends of the angle sensor one and the angle sensor two are connected to a PLC controller. The output end of the PLC controller is connected to the driving motor.

[0009] Preferably, guide wheels are arranged inside the lower seat cylinder, the upper support arm and the swing arm, and the driving rope is supported on the outside of the guide wheels.

[0010] Preferably, the upper end of the first angle sensor is connected to the bottom end of the first support shaft through a bracket.

[0011] Preferably, a rope guide plate is installed on the side wall of the lower seat cylinder. A rope guide hole is formed in the rope guide plate, and the driving rope is inserted into the interior of the lower seat cylinder through the rope guide hole.

[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0013] The three driving motors are set on the outside, and the three driving motors drive the first support shaft, the second support shaft and the third support shaft to rotate respectively through the driving ropes, so that the upper support arm, the swing arm and the execution end mounting seat operate. In this way, the three driving motors are placed outside, reducing the weight of the robotic arm and facilitating the maintenance of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic structural diagram of the present utility model;

[0015] Figure 2 is a schematic cross-sectional structural diagram of the present utility model;

[0016] Figure 3 is a schematic structural diagram of the rope guide plate of the present utility model.

[0017] In the figure: 1, mounting base plate; 2, lower seat cylinder; 3, upper support arm; 4, swing arm; 5, execution end mounting seat; 6, mechanical execution end; 7, first support shaft; 8, third support shaft; 9, first angle sensor; 10, second angle sensor; 11, second support shaft; 12, driving motor; 13, rope reel; 14, rope guide plate; 15, rope guide hole; 16, guide wheel. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0019] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0020] Embodiment 1:

[0021] Please refer to Figures 1 - 3 , the present utility model provides a technical solution: a rope-driven robotic arm, including a mounting base plate 1, a lower seat cylinder 2 is installed on the left side of the upper surface of the mounting base plate 1, an upper support arm 3 is arranged above the lower seat cylinder 2, a swing arm 4 is arranged at the upper end of the upper support arm 3, an execution end mounting seat 5 is arranged at one end of the swing arm 4 away from the upper support arm 3, a mechanical execution end 6 is arranged on the side of the execution end mounting seat 5 away from the swing arm 4, a support shaft one 7 is fixedly connected to the inner lower side of the upper support arm 3, the support shaft one 7 is hollow, the lower side of the support shaft one 7 is rotationally connected to the upper inner side of the lower seat cylinder 2 through a bearing, the upper end of the upper support arm 3 is rotationally connected to a support shaft two 11 through a bearing, one end of the swing arm 4 is fixedly connected to the support shaft two 11, the other end of the swing arm 4 is rotationally connected to a support shaft three 8 through a bearing, the support shaft three 8 is fixedly connected to one end of the execution end mounting seat 5, three driving motors 12 are further arranged on the mounting base plate 1, rope reels 13 are arranged on the output shafts of the three driving motors 12, driving ropes are wound around the rope reels 13, and the driving ropes on the three rope reels 13 are respectively wound around the outer walls of the support shaft one 7, the support shaft two 11, and the support shaft three 8.

[0022] Analysis of the above content: The driving motor 12 adopts a self-locking motor. After the driving motor 12 works, the locking structure built in the driving motor 12 locks the rotor shaft of the driving motor 12 to prevent the rotor shaft of the driving motor 12 from rotating.

[0023] During use, the three driving motors 12 respectively drive the corresponding support shaft one 7, support shaft two 11, and support shaft three 8 to rotate through the rope reels 13 and the driving ropes, so as to drive the upper support arm 3, the swing arm 4, and the execution end mounting seat 5 to rotate.

[0024] In addition, structures such as the support shaft one 7, the support shaft two 11, and the support shaft three 8 can also be replaced with existing spherical joint structures or similar structures. The spherical joint structure is still driven to rotate by the driving rope to realize angle adjustment. The rope-driven driving method has a high degree of freedom and is convenient for combined use.

[0025] Embodiment 2:

[0026] Please refer to Figures 1 - 3 , the present utility model provides a technical solution based on Embodiment 1: An angle sensor I 9 and an angle sensor II 10 are respectively installed on the lower side inside the lower seat cylinder 2 and on one side inside the actuator mounting seat 5. The angle sensor I 9 and the angle sensor II 10 are respectively coaxially connected to the support shaft I 7 and the support shaft III 8. The signal output ends of the angle sensor I 9 and the angle sensor II 10 are connected to a PLC controller, and the output end of the PLC controller is connected to the drive motor 12.

[0027] Analysis of the above content: The angle sensor I 9 and the angle sensor II 10 are used to detect the rotation angles of the support shaft I 7 and the support shaft III 8. According to the usage requirements, angle sensors can also be installed at the corresponding support shaft II 11 of the upper support arm 3 and the swing arm 4 in a manner similar to that of the angle sensor I 9 and the angle sensor II 10. The angle sensors, the angle sensor I 9, and the angle sensor II 10 are used to detect the rotation angles of the upper support arm 3, the swing arm 4, and the actuator mounting seat 5, serving as the basis for controlling the drive motor 12, so that the output control of the drive motor 12 is more accurate.

[0028] Embodiment 3:

[0029] Please refer to Figures 1 - 3 , the present utility model provides a technical solution based on Embodiment 1: Guide wheels 16 are provided inside the lower seat cylinder 2, the upper support arm 3, and the swing arm 4, and the drive rope is supported on the outside of the guide wheels 16.

[0030] Analysis of the above content: Through the setting of the guide wheels 16, it has a guiding effect on the drive rope, avoiding direct contact between the drive rope and the inner walls of the lower seat cylinder 2, the upper support arm 3, and the swing arm 4, thereby causing wear. The specific positions of each guide wheel 16 are as Figure 2 shown.

[0031] Embodiment 4:

[0032] Please refer to Figures 1 - 3 , the present utility model provides a technical solution based on Embodiment 2: The upper end of the angle sensor I 9 is connected to the bottom end of the support shaft I 7 through a bracket.

[0033] Analysis of the above content: The setting of the bracket separates the angle sensor I 9 from the support shaft I 7, so that it does not affect the drive rope passing through the inner cavity of the support shaft I 7.

[0034] Embodiment 4:

[0035] Please refer to Figures 1 - 3, the present utility model provides a technical solution based on Embodiment 1: A rope guide plate 14 is installed on the side wall of the lower seat tube 2, and a rope guide hole 15 is provided on the rope guide plate 14. The driving rope is inserted into the interior of the lower seat tube 2 through the rope guide hole 15.

[0036] Analysis of the above content: The driving rope passes through the interior of the rope guide hole 15 of the rope guide plate 14. The inner wall of the rope guide hole 15 is polished to be smooth to prevent the driving rope from directly contacting the side wall of the lower seat tube 2 and reduce wear.

[0037] The foregoing has shown and described the basic principles, main features and advantages of the present utility model. For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-described exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic features of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present utility model, and any reference signs in the claims should not be regarded as limiting the claims involved.

[0038] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A rope-driven robotic arm, characterized in that: It comprises a mounting base plate (1), a lower seat tube (2) being mounted on the left side of the upper surface of the mounting base plate (1), an upper support arm (3) being arranged on the upper part of the lower seat tube (2), a swing arm (4) being arranged on the upper end of the upper support arm (3), an actuator end mounting seat (5) being arranged on the end of the swing arm (4) away from the upper support arm (3), and a mechanical actuator end (6) being arranged on the side of the actuator end mounting seat (5) away from the swing arm (4); The inner lower side of the upper support arm (3) is fixedly connected to a support shaft 1 (7), the support shaft 1 (7) is hollow, the lower side of the support shaft 1 (7) is rotatably connected to the inner upper side of the lower seat tube (2) via a bearing, the upper end of the upper support arm (3) is rotatably connected to a support shaft 2 (11) via a bearing, one end of the swing arm (4) is fixedly connected to the support shaft 2 (11), the other end of the swing arm (4) is rotatably connected to a support shaft 3 (8) via a bearing, and the support shaft 3 (8) is fixedly connected to one end of the actuator end mounting seat (5); Three drive motors (12) are also arranged on the mounting base plate (1), and rope drums (13) are arranged on the output shafts of the three drive motors (12). Drive ropes are wound around the rope drums (13), and the drive ropes on the three rope drums (13) are respectively wound around the outer walls of the support shaft 1 (7), the support shaft 2 (11), and the support shaft 3 (8).

2. A rope-driven robotic arm according to claim 1, characterized in that: Angle sensor 1 (9) and angle sensor 2 (10) are respectively installed on the lower inner side of the lower seat cylinder (2) and the inner side of the actuator end mounting seat (5). The angle sensor 1 (9) and angle sensor 2 (10) are respectively coaxially connected to the support shaft 1 (7) and support shaft 3 (8). The signal output ends of the angle sensor 1 (9) and angle sensor 2 (10) are connected to the PLC controller, and the output end of the PLC controller is connected to the drive motor (12).

3. A cable-driven mechanical arm according to claim 1, characterized in that: The lower seat tube (2), the upper support arm (3) and the swing arm (4) are all provided with guide wheels (16), and the driving rope is supported on the outside of the guide wheels (16).

4. A cable-driven mechanical arm according to claim 2, characterized in that: The upper end of the angle sensor 1 (9) is connected to the bottom end of the support shaft 1 (7) via a bracket.

5. The cable-driven mechanical arm according to claim 1, characterized in that: A rope guide plate (14) is installed on the side wall of the lower seat cylinder (2), and a rope guide hole (15) is opened on the rope guide plate (14). The driving rope is inserted into the interior of the lower seat cylinder (2) through the rope guide hole (15).

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