Rope wheel assembly and mechanical arm

Abstract

The utility model relates to the technical field of rope driving, in particular to a rope wheel assembly and a mechanical arm. Wherein the rope wheel assembly comprises a first rope wheel, a second rope wheel and a rope, the first rope wheel is provided with a pre-tightening block, and the pre-tightening block is provided with a pre-tightening hole; the second end of the rope is fixedly arranged on the second rope wheel, the first end of the rope is provided with a rope head, the rope head is arranged in the pre-tightening hole in a penetrating mode, the pre-tightening hole is provided with a limiting part, and the limiting part is used for limiting the rope head to move in the circumferential direction of the pre-tightening hole; the rope head is in threaded connection with a pre-tightening fastener, the pre-tightening fastener can abut against the end face of the pre-tightening hole, and according to the configuration, the pre-tightening fastener is tightened or unscrewed to drive the rope head to move in the axis direction of the pre-tightening hole so as to tension or loosen the rope. The rope wheel assembly is applied to a wrist joint of a mechanical arm for example, in the working process of a rope, when the pulling force borne by the rope is too large, due to the fact that the rope is complete, the end of the rope is fixed and pre-tightened, and the rope is not prone to disengaging or falling off.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of rope drive, specifically, a rope wheel assembly and mechanical arm. BACKGROUND

[0002] With the development of robot technology, the performance and application scenarios of mechanical arms are continuously expanded, and robots have gradually become irreplaceable tools in the fields of production, service, etc. Among them, the rope-driven robot has the advantages of high flexibility, can bear large load, save space and cost, etc. and is widely used in many fields such as industrial manufacturing, aerospace research, medical treatment, education, etc.

[0003] For the rope-driven robot, the pre-tightening of the rope is crucial. In the prior art, the middle of the rope is usually disconnected and fixed to the pre-tightening structure. Under this pre-tightening mode, the rope is easy to disconnect or fall off when the tension of the rope is too large during the work process. UTILITY MODEL CONTENT

[0004] The first purpose of the utility model is to provide a rope wheel assembly to solve the technical problem that the rope is easy to disconnect or fall off when the tension of the rope is too large during the work process in the prior art.

[0005] The utility model provides a rope wheel assembly, which comprises a first rope wheel, a second rope wheel and a rope, the first rope wheel is provided with a pre-tightening block, and the pre-tightening block has a pre-tightening hole; the second end of the rope is fixed to the second rope wheel, the first end of the rope has a rope head, the rope head is arranged in the pre-tightening hole, the pre-tightening hole and the rope head have a limiting portion, and the limiting portion is used for limiting the movement of the rope head along the circumferential direction of the pre-tightening hole; the rope head is screw-connected with a pre-tightening fastener, the pre-tightening fastener can abut against the end face of the pre-tightening hole, and the pre-tightening fastener is configured to: when the pre-tightening fastener is tightened or loosened, the rope head is driven to move along the axis direction of the pre-tightening hole to tighten or loosen the rope.

[0006] Optionally, the rope head has an internal thread portion, the internal thread portion extends along the axis direction of the rope head, the pre-tightening fastener is a pre-tightening screw, and the pre-tightening screw is screw-connected to the internal thread portion;

[0007] Or, the rope head has an external thread portion, the pre-tightening fastener is a pre-tightening threaded sleeve, the pre-tightening threaded sleeve is screw-connected to the external thread portion, the pre-tightening threaded sleeve has a flange portion, and the flange portion can abut against the end face of the pre-tightening hole.

[0008] Optionally, the pre-tightening hole is a stepped hole, comprising a first through hole and a second through hole in communication with each other, a diameter of the second through hole is smaller than a diameter of the first through hole; the rope head is arranged in the first through hole, a threaded segment of the pre-tightening screw is arranged in the second through hole and the first through hole, and a head of the pre-tightening screw is capable of abutting against an outer end surface of the second through hole.

[0009] Optionally, an outer lateral wall of the rope head is in a triangular, quadrilateral, pentagonal, hexagonal, convex or concave shape in cross section;

[0010] Optionally, the first rope wheel has a first groove, a depth direction of the first groove extends inward along a radial direction of the first rope wheel; the pre-tightening block comprises a pre-tightening portion, the pre-tightening portion is fixedly arranged in the first groove, and the pre-tightening hole is arranged in the pre-tightening portion.

[0011] Optionally, a first boss is arranged in the first groove; the pre-tightening portion is fixedly connected with a first connecting portion, and the first connecting portion is fixedly arranged in the first boss.

[0012] Optionally, the second rope wheel is provided with a pressing block, the pressing block has a rope passing hole and a limiting hole, the first end of the rope is arranged in the rope passing hole, the limiting hole is in communication with the rope passing hole, an axis direction of the limiting hole is arranged at an angle with respect to an axis direction of the rope passing hole, and a locking fastener is threadedly connected in the limiting hole and is configured to limit movement of the rope along the axis direction of the rope passing hole.

[0013] Optionally, the second rope wheel has a second groove, a depth direction of the second groove extends inward along a radial direction of the second rope wheel;

[0014] The pressing block comprises a pressing portion, the pressing portion is pressed in the second groove; the rope passing hole and the limiting hole are arranged in the pressing portion.

[0015] Optionally, a second boss is arranged in the second groove; the pressing portion is fixedly connected with a second connecting portion, and the second connecting portion is fixedly arranged in the second boss.

[0016] Optionally, the first rope wheel is provided with a first rope groove, the pre-tightening hole corresponds to a position of the first rope groove;

[0017] The second rope wheel is provided with a second rope groove, the rope passing hole corresponds to a position of the second rope groove;

[0018] The number of the ropes, the first rope grooves, the pre-tightening holes, the rope passing holes and the second rope grooves is at least two, and the ropes are S-shaped wound in opposite directions in the first rope grooves and the second rope grooves, and configured to limit one of the first rope wheel and the second rope wheel to roll around the outer wall surface of the other.

[0019] The rope wheel assembly provided by the utility model has at least the following beneficial technical effects:

[0020] (1) The rope wheel assembly is applied to the wrist joint of a mechanical arm, the operator adjusts the depth of the pre-tightening fastener screwed into the rope head, the pre-tightening fastener drives the rope head to move along the axis direction of the pre-tightening hole, the contact length of the rope head with the pre-tightening hole is adjusted, the rope is pre-tightened, and the pre-tightening operation is simple.

[0021] (2) Compared with the prior art that the middle of the rope is disconnected and the rope is fixed to the pre-tightening structure, when the tension of the rope is too large in the working process, the end of the rope is fixed and pre-tightened because the rope is a complete one, and the rope is not easy to disconnect or fall off.

[0022] (3) The rope is pre-tightened, and the motion precision of the pure rolling of the wrist joint is improved.

[0023] The second purpose of the utility model is to provide a mechanical arm, which solves the technical problem that the rope of the existing mechanical arm is easy to disconnect or fall off when the tension of the rope is too large in the working process.

[0024] The utility model provides a kind of mechanical arm, including above-mentioned described rope wheel assembly and connecting support, the first rope wheel and the second rope wheel are respectively pivoted in the connecting support, and the rope has at least two, respectively S-shaped winding in the first rope wheel and the second rope wheel in opposite directions.

[0025] The utility model provides a kind of mechanical arm at least has the following beneficial technical effects:

[0026] By setting the above-mentioned rope wheel assembly and connecting support in the mechanical arm, correspondingly, the mechanical arm has all the advantages of the above-mentioned rope wheel assembly, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 A rope wheel assembly assembly schematic view is provided for the utility model embodiment;

[0028] Figure 2 A first view of pre-tightening block in the rope wheel assembly provided for the utility model embodiment;

[0029] Figure 3 For Figure 2Structure schematic diagram of the rope wheel assembly in the middle A-A section;

[0030] Figure 4 Structure schematic diagram of the rope part in the rope wheel assembly provided by the embodiment of the utility model;

[0031] Figure 5 Structure schematic diagram of the explosion of the rope wheel assembly provided by the embodiment of the utility model Figure 1 ;

[0032] Figure 6 For Figure 4 Structure schematic diagram of the enlarged part in the middle circle;

[0033] Figure 7 Structure schematic diagram of the explosion of the rope wheel assembly provided by the embodiment of the utility model Figure 2 ;

[0034] Figure 8 Structure schematic diagram of the winding arrangement of the rope in the rope wheel assembly provided by the embodiment of the utility model.

[0035] Explanation of reference signs:

[0036] 2, first rope wheel; 21, first rope groove; 22, first recess; 23, first boss; 24, pre-tightening block; 241, pre-tightening part; 242, pre-tightening hole; 2421, first section through hole; 2422, second section through hole; 243, first connecting part;

[0037] 3, second rope wheel; 31, second rope groove; 32, second recess; 33, second boss; 34, pressing block; 341, pressure joint; 3411, rope passing hole; 3412, limiting hole; 342, second connecting part;

[0038] 4, rope; 41, rope head; 411, internal thread part; 412, pre-tightening fastener. Specific implementation

[0039] In order to make the above-mentioned purpose, features and advantages of the utility model more obvious and easy to understand, the following will be combined with the attached Figures 1-8 The specific embodiment of the utility model is described in detail.

[0040] In the utility model, the terms "connection", "connection" and other terms should be understood in a broad sense, for example, it can be fixed connection, can also be detachable connection or integral structure.

[0041] In the utility model, the terms "inner", "outer" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0042] The utility model discloses a rope wheel subassembly, please refer to the attached Figure 1 , the rope wheel subassembly includes first rope wheel 2, second rope wheel 3 and rope 4, first rope wheel 2 is equipped with pre -tightening block 24, and pre -tightening block 24 has pre -tightening hole 242;The second end of rope 4 is fixed in second rope wheel 3, and the first end of rope 4 has a rope head 41, the rope head 41 is arranged in pre -tightening hole 242, and pre -tightening hole 242 and rope head 41 have a limiting portion, the limiting portion is used to limit the movement of rope head 41 along the circumferential direction of pre -tightening hole 242, that is, the rope head 41 can only move along the axial direction of pre -tightening hole 242;The rope head 41 is screw -threaded with pre -tightening fastener 412, and the pre -tightening fastener 412 can abut to the end face of pre -tightening hole 242, and is configured: tighten or loosen pre -tightening fastener 412, drive the rope head 41 along the axial direction of pre -tightening hole 242 and move to tension or relax rope 4.The rope wheel subassembly is taken as an example for being applied to the wrist joint of mechanical arm, and the wrist joint includes first joint unit and second joint unit, and first rope wheel 2 is arranged in first joint unit, and second rope wheel 3 is arranged in second joint unit.Such setting, the operator passes through the tightening pre -tightening fastener 412, adjusts the depth of pre -tightening fastener 412 screw -threaded into the rope head 41, and the pre -tightening fastener 412 drives the rope head 41 to move along the axial direction of pre -tightening hole 242, adjusts the contact length of the rope head 41 and pre -tightening hole 242, thereby pre -tensioning rope 4, and the pre -tensioning operation is simple;Compared with the prior art that the middle of rope 4 is disconnected and is fixed in the pre -tensioning structure, the rope wheel subassembly provided in the utility model embodiment, when the tension of rope 4 is too large in the working process, since rope 4 is a complete one, the end of rope 4 is fixed and pre -tensioned, and rope 4 is not easy to disconnect or fall off;In addition, pre -tensioning rope 4 improves the pure rolling motion precision of the wrist joint.

[0043] Please refer to the attached Figure 2 , in the utility model embodiment, the number of pre -tightening holes 242 is multiple, and the pre -tightening holes 242 can be arranged in the same direction or reversely, that is, the direction of the rope head 41 arranged in the pre -tightening hole 242 can be same or opposite, that is, tightening pre -tightening fastener 412 can drive the rope head 41 to move along the axial direction of pre -tightening hole 242 or the opposite direction of the axial direction.Such setting can improve the practicability of pre -tightening block 24, and can pre -tension the rope 4 with different winding directions.

[0044] In the embodiment of the utility model, the threaded connection mode of the rope head 41 and the pre-tightening fastener 412 can be that the rope head 41 is provided with internal threads, and correspondingly, the pre-tightening fastener 412 is provided with external threads; or, the rope head 41 is provided with external threads, and correspondingly, the pre-tightening fastener 412 is provided with internal threads.

[0045] Please refer to the accompanying drawings Figures 2-5 In the first case, the rope head 41 has an internal thread part 411 extending along the axial direction of the rope head 41, and the pre-tightening fastener 412 is a pre-tightening screw which is threadedly connected to the internal thread part 411. In this way, the threaded connection of the rope head 41 and the pre-tightening fastener 412 is achieved.

[0046] In the second case, the rope head 41 has an external thread part (not shown in the drawings), and the pre-tightening fastener 412 is a pre-tightening threaded sleeve (not shown in the drawings) which is threadedly connected to the external thread part. The pre-tightening threaded sleeve has a flange part which can abut against the end face of the pre-tightening hole 242. In this way, the threaded connection of the rope head 41 and the pre-tightening fastener 412 is achieved.

[0047] Please refer to the accompanying drawings Figure 3 and Figure 6 In the embodiment of the utility model, for the above-mentioned first case, the pre-tightening hole 242 is a stepped hole including a first through hole 2421 and a second through hole 2422 which are in communication with each other, and the diameter of the second through hole 2422 is smaller than the diameter of the first through hole 2421; the rope head 41 is arranged in the first through hole 2421, the threaded section of the pre-tightening screw is arranged in the second through hole 2422 and the first through hole 2421, and the head of the pre-tightening screw can abut against the outer end face of the second through hole 2422. In this way, an abutting end face is provided for the pre-tightening screw.

[0048] In the embodiment of the utility model, the outer side wall of the rope head 41 can have various cross-sectional shapes, specifically, the outer side wall of the rope head 41 can have a triangular shape, a quadrilateral shape, a pentagonal shape, a hexagonal shape, a convex character shape or a concave character shape. It should be noted that the first through hole 2421 of the pre-tightening hole 242 matches the cross-sectional shape of the outer side wall of the rope head 41. In this way, the cross-sectional shape of the outer side wall of the rope head 41 and the pre-tightening hole 242 is polygonal, thereby forming a limiting part to limit the movement of the rope head 41 along the circumferential direction of the pre-tightening hole 242.

[0049] Please refer to the accompanying drawings Figure 5 In the embodiment of the utility model, the first rope wheel 2 has a first groove 22 which extends in the depth direction along the radial direction of the first rope wheel 2 inwardly; the pre-tightening block 24 includes a pre-tightening part 241 which is fixedly arranged in the first groove 22, and the pre-tightening hole 242 is arranged in the pre-tightening part 241. In this way, space is provided for the installation of the pre-tightening block 24.

[0050] Please refer to the attached Figure 5 In the embodiment of the utility model, the first recess 22 is internally provided with a first boss 23; the pre-tightening part 241 is fixedly connected with a first connecting part 243, and the first connecting part 243 is fixedly arranged on the first boss 23. In this way, the pre-tightening block 24 and the first rope wheel 2 are fixed.

[0051] Please refer to the attached Figure 5 In the embodiment of the utility model, the second rope wheel 3 is provided with a pressing block 34, the pressing block 34 has a rope passing hole 3411 and a limiting hole 3412, the second end of the rope 4 is arranged in the rope passing hole 3411, the limiting hole 3412 is communicated with the rope passing hole 3411, the axis direction of the limiting hole 3412 is arranged at an angle with the axis direction of the rope passing hole 3411, and a locking fastener is threadedly connected in the limiting hole 3412, which is configured to limit the movement of the rope 4 along the axis direction of the rope passing hole 3411. In this way, the second end of the rope 2 is fixed, and the installation is simple; in addition, the structure is simple and easy to manufacture.

[0052] Please refer to the attached Figure 7 In the embodiment of the utility model, the second rope wheel 3 has a second recess 32, and the depth direction of the second recess 32 extends inward along the radial direction of the second rope wheel 3; the pressing block 34 comprises a pressing part 341, and the pressing part 341 is pressed in the second recess 32; the rope passing hole 3411 and the limiting hole 3412 are arranged in the pressing part 341. In this way, space is provided for the installation of the pressing block 34.

[0053] Please refer to the attached Figure 7 In the embodiment of the utility model, the second recess 32 is internally provided with a second boss 33; the pressing part 341 is fixedly connected with a second connecting part 342, and the second connecting part 342 is fixedly arranged on the second boss 33. In this way, the pressing block 34 and the first rope wheel 3 are fixed.

[0054] Please refer to the attached Figure 5 , Figure 7 and Figure 8 In the embodiment of the utility model, the first rope wheel 2 is provided with a first rope groove 21, and the position of the pre-tightening hole 242 corresponds to the position of the first rope groove 21; the second rope wheel 3 is provided with a second rope groove 31, and the position of the rope passing hole 3411 corresponds to the position of the second rope groove 31; the number of the rope 4, the first rope groove 21, the pre-tightening hole 242, the rope passing hole 3411 and the second rope groove 31 is at least two, and the rope 4 is S-shapedly wound in the first rope groove 21 and the second rope groove 31 in opposite directions, that is, each group of the rope 4 is arranged in an 8-shaped cross shape, which is configured to limit one of the first rope wheel 2 and the second rope wheel 3 to purely roll on the outer wall surface of the other. In this way, the stability of the elbow joint when the elbow joint is driven to move in single degree of freedom by the rope 4 is ensured.

[0055] Please refer to the attached Figure 8In the embodiment of the utility model, the two ropes 4 are arranged in an 8-shaped cross manner.

[0056] The second purpose of the utility model is to provide a mechanical arm to solve the technical problem that the rope of the existing mechanical arm is easy to be disconnected or dropped when the tension of the rope 4 is too large during the working process.

[0057] The utility model provides a kind of mechanical arm, including above-mentioned rope wheel subassembly and connecting support, first rope wheel 2 and second rope wheel 3 are respectively pivoted in connecting support, rope 4 has at least 2, respectively along opposite direction is S-shaped and is wound in first rope wheel 2 and second rope wheel 3.

[0058] The utility model provides a kind of mechanical arm at least has following beneficial technical effects:

[0059] By being provided with above-mentioned rope wheel subassembly and connecting support in mechanical arm, correspondingly, the mechanical arm has all advantages of above-mentioned rope wheel subassembly, and here is not repeated.

[0060] Although the utility model discloses as above, the utility model is not limited to this. Any person skilled in the art, without departing from the spirit and scope of the utility model, can make various changes and modifications, therefore the protection scope of the utility model should be limited by the range defined in claim.

Claims

1. A rope wheel assembly, characterized in that, The first rope wheel (2) is provided with a pre-tightening block (24) having a pre-tightening hole (242), the second end of the rope (4) is fixed to the second rope wheel (3), the first end of the rope (4) has a rope head (41) which is arranged in the pre-tightening hole (242), the pre-tightening hole (242) and the rope head (41) have a limiting portion for limiting the movement of the rope head (41) along the circumferential direction of the pre-tightening hole (242), the rope head (41) is threadedly connected with a pre-tightening fastener (412) which can abut against the end face of the pre-tightening hole (242), and the pre-tightening fastener (412) is configured to be tightened or loosened to drive the rope head (41) to move along the axis direction of the pre-tightening hole (242) to tighten or loosen the rope (4).

2. The rope wheel assembly of claim 1, wherein, The rope head (41) has an internal thread portion (411) extending along the axis direction of the rope head (41), and the pre-tightening fastener (412) is a pre-tightening screw which is threadedly connected with the internal thread portion (411). Or, the rope head (41) has an external thread portion, the pre-tightening fastener (412) is a pre-tightening threaded sleeve which is threadedly connected with the external thread portion, and the pre-tightening threaded sleeve has a flange portion which can abut against the end face of the pre-tightening hole (242).

3. The rope wheel assembly of claim 2, wherein, The pre-tightening hole (242) is a stepped hole including a first segment through hole (2421) and a second segment through hole (2422) which are in communication with each other, the hole diameter of the second segment through hole (2422) is smaller than the diameter of the first segment through hole (2421), the rope head (41) is arranged in the first segment through hole (2421), the threaded segment of the pre-tightening screw is arranged in the second segment through hole (2422) and the first segment through hole (2421), and the head portion of the pre-tightening screw can abut against the outer end face of the second segment through hole (2422).

4. The rope wheel assembly of claim 1, wherein, The outer side wall of the rope head (41) has a cross-sectional shape of a triangle, a quadrilateral, a pentagon, a hexagon, a convex letter or a concave letter. And / or, the first rope wheel (2) has a first groove (22) which extends in the depth direction along the radial direction of the first rope wheel (2) inwardly, the pre-tightening block (24) includes a pre-tightening portion (241) which is fixed to the first groove (22), and the pre-tightening hole (242) is arranged in the pre-tightening portion (241).

5. The rope wheel assembly of claim 4, wherein, The first groove (22) is provided with a first boss (23), and the pre-tightening portion (241) is fixedly connected with a first connecting portion (243) which is fixed to the first boss (23).

6. Rope wheel assembly according to any one of claims 1-5, characterized in that, The second rope wheel (3) is provided with a pressing block (34), the pressing block (34) has a rope passing hole (3411) and a limiting hole (3412), the second end of the rope (4) is arranged in the rope passing hole (3411), the limiting hole (3412) is communicated with the rope passing hole (3411), and the axis direction of the limiting hole (3412) is arranged at an angle with the axis direction of the rope passing hole (3411); and a locking fastener is threadedly connected in the limiting hole (3412), and is configured to limit the movement of the rope (4) along the axis direction of the rope passing hole (3411).

7. The rope wheel assembly of claim 6, wherein, The second rope wheel (3) has a second groove (32), and the depth direction of the second groove (32) extends radially inwardly along the second rope wheel (3); The pressing block (34) comprises a pressing portion (341), and the pressing portion (341) is pressed in the second groove (32); and the rope passing hole (3411) and the limiting hole (3412) are arranged in the pressing portion (341).

8. The rope wheel assembly of claim 7, wherein, The second groove (32) is provided with a second boss (33); and the pressing portion (341) is fixedly connected with a second connecting portion (342), and the second connecting portion (342) is fixedly arranged on the second boss (33).

9. The rope wheel assembly of claim 6, wherein, The first rope wheel (2) is provided with a first rope groove (21), and the pre-tightening hole (242) corresponds in position to the first rope groove (21); The second rope wheel (3) is provided with a second rope groove (31), and the rope passing hole (3411) corresponds in position to the second rope groove (31); The number of the rope (4), the first rope groove (21), the pre-tightening hole (242), the rope passing hole (3411) and the second rope groove (31) is at least two, the rope (4) is S-shapedly wound in opposite directions in the first rope groove (21) and the second rope groove (31), and the first rope wheel (2) and the second rope wheel (3) are configured to limit the rolling of one of the first rope wheel (2) and the second rope wheel (3) around the outer wall surface of the other.

10. A robot arm, characterized in that, The rope wheel assembly and the connecting support are provided, the first rope wheel (2) and the second rope wheel (3) are respectively pivotally connected to the connecting support, and the number of the rope (4) is at least two, and the rope (4) is S-shapedly wound in opposite directions in the first rope wheel (2) and the second rope wheel (3).

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