Trunk-imitated rope-driven continuous mechanical arm

Abstract

The utility model discloses a trunk-imitating rope-driven continuous mechanical arm which comprises a supporting frame, a driving motor is fixedly installed on the supporting frame, an output shaft of the driving motor is fixedly connected with a driving plate, an adjusting motor is fixedly installed on the driving plate, a fixing block is fixedly installed at the end of an output shaft of the adjusting motor, and the fixing block is fixedly connected with the driving plate. The fixing block is fixedly connected with an electric telescopic rod, a mounting plate is fixedly mounted at the other end of the electric telescopic rod, and a positioning disc is fixedly mounted on the mounting plate; the axis of the output shaft of the adjusting motor and the axis of the electric telescopic rod are perpendicular to the axis of the output shaft of the driving motor. A bottom plate is fixedly installed on the positioning disc through bolts, and a rope-driven mechanical arm is installed on the bottom plate. The trunk-imitating rope-driven continuous mechanical arm is simple in structure, the practicability of the trunk-imitating rope-driven continuous mechanical arm is improved, and the position is convenient to adjust. And moreover, the installation stability and the installation efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to an elephant trunk-like rope-driven continuous mechanical arm. Background Art

[0002] Robotic arms are playing an increasingly important role in the development and utilization of marine resources, pipeline inspection and maintenance, medical examinations, surgical procedures, and nuclear power plant inspections. They are often used to assist in exploration, salvage, and rescue operations. Traditional rigid robotic arms typically have 5-7 degrees of freedom, enabling stable grasping. However, due to their large mass and size, and poor ability to navigate complex and narrow environments, they cannot meet the needs of operations within confined areas. Rope drive, an emerging transmission method, has been incorporated into robotic arms. Ropes drive flexible joint segments to bend. These arms offer a high number of degrees of freedom, compact arm segments, and high flexibility and compliance, making them suitable for complex and narrow working environments.

[0003] Although existing rope-driven continuous-action manipulators play an important role in operations, they still have some limitations. They are usually designed for specific installation locations. Once installed, their usage positions are relatively fixed and difficult to adjust flexibly. This makes the manipulators unable to adapt to the needs of different working environments in some cases, thus limiting their scope of application.

[0004] Chinese patent document CN218082703U discloses an underwater rope-driven multi-joint flexible manipulator, "including a plurality of joint cylinders, each end of which is equipped with a rope drum; each joint cylinder is controlled by three driving ropes to control its posture, and the three driving ropes are connected to the rope drum at the front end of the joint cylinder, and the connection points are evenly arranged on the rope drum along the circumferential direction. The device has a simple structure and high flexibility; each joint cylinder is driven by three driving ropes, and the driving ropes are distributed at 120° on the rope holes on the rope drum, and each rope is controlled by a driving unit to extend and retract, thereby realizing the two-degree-of-freedom movement of deflection and pitch of each joint perpendicular to the axis of the joint cylinder, thereby realizing precise control of the posture of the end of the manipulator and the posture of the manipulator body". However, the underwater rope-driven multi-joint flexible manipulator in the above-mentioned public document mainly considers the precise control of the posture of the end of the manipulator and the posture of the manipulator body. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides an elephant trunk rope-driven continuous type robotic arm which has a simple structure, high installation efficiency, good installation stability, and convenient adjustment of the use position.

[0006] The technical solution adopted by the utility model is: an elephant trunk-like rope-driven continuous type robotic arm, comprising a support frame, a driving motor is fixedly mounted on the support frame, and the output shaft of the driving motor is fixedly connected to a driving plate, an adjusting motor is fixedly mounted on the driving plate, a fixing block is fixedly mounted on the end of the output shaft of the adjusting motor, the fixing block is fixedly connected to an electric telescopic rod, the other end of the electric telescopic rod is fixedly mounted on a mounting plate, and a positioning plate is fixedly mounted on the mounting plate; the axis of the output shaft of the adjusting motor and the axis of the electric telescopic rod are respectively perpendicular to the axis of the output shaft of the driving motor; a base plate is fixedly mounted on the positioning plate by bolts, and the rope-driven robotic arm is mounted on the base plate.

[0007] Furthermore, a fixing plate is provided at the bottom of the support frame, and a positioning hole is provided on the fixing plate for fixing the support frame.

[0008] Furthermore, a driving module is fixedly installed at the bottom of the base plate, and the driving module is connected to the rope-driven robotic arm; the driving module includes a support plate, multiple servo motors and multiple wire wheels; multiple servo motors and multiple wire wheels are installed on the support plate, and the multiple wire wheels are respectively arranged corresponding to multiple steel ropes of the rope-driven robotic arm, and a winding wheel is provided on the output shaft of the servo motor; the rear end of the rope-driven robotic arm is fixed on the support plate, and each steel wire rope of the rope-driven robotic arm passes around the corresponding wire wheel and is connected to the corresponding winding wheel.

[0009] Furthermore, the bottom plate is provided with a plurality of stopper mounting holes, the plurality of stopper mounting holes are evenly arranged along the circumferential direction, and a stopper is provided in each stopper mounting hole.

[0010] Furthermore, the limiter includes a negative pressure plate, a cylinder body, a piston and an electric push rod; the piston is placed in the cylinder body and is connected to one end of the cylinder body through the electric push rod; a through hole is provided at the other end of the cylinder body; the negative pressure plate is annular, and the negative pressure plate is fixedly mounted on one end of the cylinder body provided with the through hole, and the center hole of the negative pressure plate is connected to the through hole; the bottom end of the negative pressure plate is in sealing contact with the top of the positioning plate.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] 1. The utility model has a simple structure. By installing a driving motor, it is convenient to adjust the use position of the elephant trunk rope-driven continuous robotic arm. When the position of the elephant trunk rope-driven continuous robotic arm is adjusted, the driving motor will drive the position of the driving plate to be adjusted. When the driving plate moves, it will drive the position of the electric telescopic rod to move, and then the position of the rope-driven robotic arm can be adjusted. The electric telescopic rod will push the mounting plate to move, and then the position of the rope-driven robotic arm will be adjusted forward and backward. The adjustment motor will adjust the operating direction of the rope-driven robotic arm through the fixed block, so as to facilitate operation in different directions, improve the practicality of the elephant trunk rope-driven continuous robotic arm, and facilitate position adjustment.

[0013] 2. The utility model can improve the stability of the installation of the elephant trunk rope-driven continuous type robot arm through the installed limiter. When installing the rope-driven robot arm, the positioning bolts are used to fix the base plate and the positioning plate, so that the negative pressure plate and the top of the positioning plate are tightly adsorbed, so that the electric push rod works and pulls the piston to move. When the piston moves, the air inside the negative pressure plate is extracted through the through hole, thereby forming a negative pressure state inside the negative pressure plate, which is tightly adsorbed on the positioning plate, thereby limiting the position of the base plate, avoiding the position of the base plate from sliding during installation and affecting the installation. At the same time, the positioning bolts are used to fix the base plate and the positioning plate, thereby improving the stability of the base plate installation, achieving the purpose of improving the stability of the rope-driven robot arm installation and improving the efficiency of installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0015] Figure 2 This is a schematic structural diagram of the rope-driven robotic arm of the present utility model.

[0016] Figure 3 This is a schematic diagram of the base plate structure of the present utility model.

[0017] Figure 4 This is a schematic structural diagram of the positioning plate of the present utility model.

[0018] Figure 5 It is a cross-sectional view of the limiter of the present utility model.

[0019] Figure 6 It is a three-dimensional diagram of the limiter of the present utility model.

[0020] In the figure: 1. Support frame; 101. Positioning hole; 2. Drive plate; 201. Drive motor; 202. Fixing block; 203. Electric telescopic rod; 204. Mounting plate; 205. Adjustment motor; 3. Positioning plate; 4. Base plate; 401. Drive module; 402. Rope-driven robotic arm; 5. Limiter; 501. Negative pressure plate; 502. Through hole; 503. Piston; 504. Electric push rod. DETAILED DESCRIPTION

[0021] The technical solution of the present utility model is described clearly and completely below with reference to the accompanying drawings.

[0022] like Figure 1 - Figure 4 As shown, the utility model includes a support frame 1 , a fixing plate is provided at the bottom of the support frame 1 , and a positioning hole 101 is provided on the fixing plate for fixing the support frame 1 .

[0023] A drive motor 201 is fixedly mounted on the support frame 1, and the output shaft of the drive motor 201 is fixedly connected to the drive plate 2. An adjustment motor 205 is fixedly mounted on the drive plate 2. The drive plate 2 is provided with a motor mounting hole, and the adjustment motor 205 is installed within the motor mounting hole. A fixing block 202 is fixedly mounted on the end of the output shaft of the adjustment motor 205. The fixing block 202 is fixedly connected to the electric telescopic rod 203. The other end of the electric telescopic rod 203 is fixedly mounted on a mounting plate 204, and a positioning plate 3 is fixedly mounted on the mounting plate 204. The axis of the output shaft of the adjustment motor 205 is perpendicular to the axis of the output shaft of the drive motor 201; the axis of the electric telescopic rod 203 is perpendicular to the axis of the output shaft of the adjustment motor 205. A base plate 4 is fixedly mounted on the positioning plate 3 via bolts, and a rope-driven robotic arm 402 is mounted on the base plate 4.

[0024] A drive module 401 is fixedly mounted at the bottom of the base plate 4 and connected to the rope-driven manipulator 402. The drive module 401 comprises a support plate, multiple servo motors, and multiple wire reels. The servo motors and wire reels are mounted on the support plate, each corresponding to the multiple wire ropes of the rope-driven manipulator 402. Winding reels are mounted on the output shafts of the servo motors. The rear end of the rope-driven manipulator 402 is fixed to the support plate, and each wire rope of the rope-driven manipulator 402 passes over a corresponding wire reel and is connected to the corresponding winding reel. The multiple servo motors in the drive module 401 can control the rope-driven manipulator 402 to achieve a variety of complex bending postures.

[0025] The base plate 4 is provided with a plurality of stopper mounting holes, which are evenly arranged along the circumference. Each stopper mounting hole is provided with a stopper 5. The stopper 5 comprises a negative pressure plate 501, a cylinder body, a piston 503, and an electric push rod 504. The piston 503 is positioned within the cylinder body and connected to one end of the cylinder body via the electric push rod 504. A through hole 502 is provided at the other end of the cylinder body. The negative pressure plate 501 is annular and fixedly mounted on the end of the cylinder body provided with the through hole 502. The center hole of the negative pressure plate 501 is connected to the through hole 502. The bottom end of the negative pressure plate 501 is in sealing contact with the top of the positioning plate 3.

[0026] When installing the rope-driven robotic arm 402, the positioning bolts are used to fix the base plate 4 and the positioning plate 3, so that the negative pressure plate 501 is tightly adsorbed on the top of the positioning plate 3, so that the electric push rod 504 works and pulls the piston 503 to move. When the piston 503 moves, the air inside the negative pressure plate 501 is extracted through the through hole 502, thereby forming a negative pressure state inside the negative pressure plate 501, which is tightly adsorbed on the positioning plate 3, and then limiting the position of the base plate 4 to avoid the base plate 4 from sliding during installation and affecting the installation. At the same time, the positioning bolts are used to fix the base plate 4 and the positioning plate 3, which will improve the stability of the installation of the base plate 4, thereby achieving the purpose of improving the stability of the installation of the rope-driven robotic arm 402 and improving the efficiency of the installation.

[0027] When the utility model is used, the operation is as follows:

[0028] First, when installing the rope-driven manipulator 402, the base plate 4 and the positioning plate 3 are fixedly connected using positioning bolts, so that the negative pressure plate 501 is tightly adsorbed against the top of the positioning plate 3. When the electric push rod 504 is activated, it pulls the piston 503 to move. When the piston 503 moves, the air inside the negative pressure plate 501 is extracted through the through hole 502, thereby forming a negative pressure state inside the negative pressure plate 501, and tightly adsorbing it on the positioning plate 3, thereby limiting the position of the base plate 4, preventing the base plate 4 from sliding during installation and affecting the installation. At the same time, the use of positioning bolts to fix the base plate 4 and the positioning plate 3 will improve the stability of the base plate 4 installation, thereby achieving the purpose of improving the stability of the rope-driven manipulator 402 installation and improving the efficiency of installation. Next, the drive module 401 adjusts the position of the elephant trunk-like continuous-action rope-driven manipulator: the operation of the drive motor 201 drives the position of the drive plate 2 to adjust. The movement of the drive plate 2 drives the position of the electric telescopic rod 203, which in turn adjusts the position of the rope-driven manipulator 402. The electric telescopic rod 203 pushes the mounting plate 204 to move, which in turn adjusts the position of the rope-driven manipulator 402 forward and backward, thereby achieving the purpose of adjusting the position of the rope-driven manipulator 402. Finally, the multiple servo motors of the drive module 401 can control the rope-driven manipulator 402 to achieve a variety of complex bending postures to complete the work.

Claims

1. A continuous-type robotic arm imitating an elephant trunk and driven by a rope, comprising a support frame (1), characterized in that: A driving motor (201) is fixedly mounted on the support frame (1), and the output shaft of the driving motor (201) is fixedly connected to the driving plate (2). An adjusting motor (205) is fixedly mounted on the driving plate (2). A fixing block (202) is fixedly mounted on the end of the output shaft of the adjusting motor (205). The fixing block (202) is fixedly connected to the electric telescopic rod (203). The other end of the electric telescopic rod (203) is fixedly mounted with a mounting plate (204). A positioning plate (3) is fixedly mounted on the mounting plate (204). The axis of the output shaft of the adjusting motor (205) and the axis of the electric telescopic rod (203) are respectively perpendicular to the axis of the output shaft of the driving motor (201). A base plate (4) is fixedly mounted on the positioning plate (3) by bolts, and a rope-driven mechanical arm (402) is mounted on the base plate (4).

2. The elephant trunk-like rope-driven continuous type manipulator according to claim 1, characterized in that: The bottom of the support frame (1) is provided with a fixing plate, and the fixing plate is provided with a positioning hole (101) for fixing the support frame (1).

3. The elephant trunk-like rope-driven continuous type manipulator according to claim 1, characterized in that: A driving module (401) is fixedly mounted on the bottom of the base plate (4), and the driving module (401) is connected to the rope-driven mechanical arm (402); the driving module (401) comprises a support plate, a plurality of servo motors, and a plurality of wire wheels; the plurality of servo motors and the plurality of wire wheels are mounted on the support plate, the plurality of wire wheels are respectively arranged corresponding to the plurality of steel wire ropes of the rope-driven mechanical arm (402), and a winding wheel is provided on the output shaft of the servo motor; the rear end of the rope-driven mechanical arm (402) is fixed on the support plate, and each steel wire rope of the rope-driven mechanical arm (402) passes around a corresponding wire wheel and is connected to a corresponding winding wheel.

4. The elephant trunk-like rope-driven continuous type manipulator according to claim 1, characterized in that: The bottom plate (4) is provided with a plurality of stopper mounting holes, which are evenly arranged along the circumferential direction, and a stopper (5) is provided in each stopper mounting hole.

5. The elephant trunk-like rope-driven continuous manipulator according to claim 4, characterized in that: The limiter (5) includes a negative pressure plate (501), a cylinder body, a piston (503) and an electric push rod (504); the piston (503) is placed in the cylinder body and connected to one end of the cylinder body through the electric push rod (504); a through hole (502) is provided at the other end of the cylinder body; the negative pressure plate (501) is annular and is fixedly mounted on one end of the cylinder body provided with the through hole (502), and the center hole of the negative pressure plate (501) is connected to the through hole (502); the bottom end of the negative pressure plate (501) is in sealing contact with the top of the positioning plate (3).

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