Tendon type rope-driven mechanical arm capable of adjusting pre-tightening force of rope

Abstract

The utility model discloses a tendon type rope drive mechanical arm capable of adjusting rope pretightening force, which comprises an arm rod, a lifting appliance, a rotating joint, a driving device and a rope, the rotating joint is fixedly connected with the lifting appliance to form a cross structure, the rotating joint comprises two rotating shafts, and the rotating shafts are connected with the lifting appliance. The two rotating shafts are arranged on the two sides of the middle portion of the lifting appliance in a bias mode in the direction perpendicular to the lifting appliance, one ends of the two arm rods are connected with the two rotating shafts respectively, and driving devices are arranged in the two arm rods respectively. The rope is arranged between the ends, away from the lifting appliance, of the two arm rods and the two ends of the lifting appliance, and the rope is further connected with the end of the lifting appliance through a pre-tightening device. According to the mechanical arm, the fixing plate and the rope clamping plate are arranged, and the rope clamping plate can move relative to the fixing plate, so that the tension degree of the whole rope can be adjusted, and the transmission precision of the whole mechanical arm is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm construction technical field more particularly to a kind of tendon type rope drive mechanical arm of adjustable rope pre-tightening force. BACKGROUND

[0002] The current mechanical arm is connected together by rotating joint each arm rod, rotating joint is driven by motor through gear train, gear train applies joint torque in the position relatively close to joint shaft. When larger joint torque is needed, large torque motor and large gear transmission system are needed. Therefore, rotating joint occupies most of the quality of the whole mechanical arm. In addition, because it is needed to lay electrical harness in rotating joint area, in order to transmit power, sensor data, control and video signal between rotating joint and terminal effector, the area around rotating joint becomes very crowded, making design more complex.

[0003] Traditional mechanical arm wants to increase operating distance, either increase the number of rotating joints, or increase the length of each arm rod. Because rotating joint mass is larger, when the number of rotating joints is increased, the weight of mechanical arm is greatly increased. When the length of arm rod is increased, the torque of rotating joint is increased, that is, large torque motor and large gear transmission system are used, which also greatly increases the mass of mechanical arm, so the operating range of traditional mechanical arm is very limited.

[0004] The patent document with patent announcement number CN115488871A discloses a kind of lightweight high-torque tendon drive single-degree-of-freedom mechanical joint device, including rotating joint, boom, two arm rods, drive module and drive rope, rotating joint includes two rotating shafts, which is arranged on the both sides of intermediate portion of boom in the direction perpendicular to boom, one end of two arm rods is respectively connected to two rotating shafts, drive rope is wired in the way of antagonistic drive between the other end of two arm rods and the both ends of boom, drive module is connected to drive rope and controls its length, the tension of drive rope acts on the both ends of boom, in turn drives rotating joint and two arm rods to rotate synchronously. The joint structure of the scheme helps to reduce modeling complexity, improve control accuracy, weaken or avoid the motion coupling between joints, and has large angle motion range. Boom can increase driving force arm and improve output torque. Rope antagonistic control can change joint stiffness characteristics. Ultra-light mass and excellent extension ratio can realize rapid deployment and application.

[0005] Among them, the device is driven by two motors or four motors, including arm rod, drive device, spring tensioning structure, rotating joint, lifting device and steel wire rope. Among them, drive device and spring tensioning structure are installed inside arm rod;Each arm rod has a drive steel wire rope, and its wiring path is: the pulley at one end of the lifting device, the pulley set on the arm rod, the winch of the drive device and the pulley at the other end of the lifting device.

[0006] The biggest feature of tendon type rope driven manipulator is to drive the movement of the manipulator by the rope, and the rope needs to be always kept in the state of being taut during the driving process, refer to Figure 1 , Figure 1 The schematic diagram of the simplified tendon type rope driven manipulator is shown, the angle between the manipulator rod and the spreader is β, the lengths of the four ropes are L1, L2, L3 and L4 respectively, in order to improve the stress condition of the spreader, it is usually made to only bear the tension or pressure along the direction of the spreader during the working process. Therefore, two conditions need to be met: 1) the angle between the spreader and the two side ropes is always equal;

[0007] 2) the tension on the two side ropes of the spreader is always equal;

[0008] Under the condition that the lengths of each arm rod are equal, from 1) we can get:

[0009] L1=L3 1.1

[0010] L2=L4 1.2 Let the length of the spreader on one side be h, and the length of the arm rod be a, from the cosine theorem we can know that:

[0011]

[0012]

[0013] Therefore, the length of the left side rope is:

[0014]

[0015] From the above formula, it can be seen that the length of the rope is related to the angle β, and the angle β changes with the rotation of the manipulator, therefore, the length of the rope changes with the rotation of the manipulator at any time, and the steel wire rope cannot be completely in the state of being taut in the initial state, and needs to be adjusted according to the actual situation, so as to ensure the movement accuracy of the whole manipulator. Content of the utility model

[0016] The technical problem to be solved by the utility model lies in how to adjust the pre-tightening force of the rope.

[0017] The utility model discloses a can adjust tendon type rope drive mechanical arm of pre-tightening force of rope, including arm, sling, rotary joint, drive arrangement, rope, the rotary joint is fixedly connected with sling and forms cross -shaped structure, the rotary joint includes two pivot, two pivot is offset and is arranged in the middle part of sling two sides along perpendicular to the direction of sling, one end of two arm is connected two pivot respectively, and two arm is equipped with drive arrangement in, it is characterized in that, the rope is arranged between one end of two arm and two ends of sling that deviate from sling, and the rope is also connected with the end of sling through pre-tightening device, and the pre-tightening device includes fixed plate, rope clamping plate, the rope clamping plate can move relative to fixed plate, the rope clamping plate is fixedly connected with rope, and the drive arrangement is used for driving rope transmission and causes rotary joint and two arm to rotate.

[0018] Through the setting of fixed plate and rope clamping plate, and make the rope clamping plate can move relative to fixed plate, make the tension of whole rope can be adjusted, improve the transmission accuracy of whole mechanical arm.

[0019] As a preferred technical scheme, the sling includes a side plate, a horizontal plate, a vertical plate, a pivot, and a tension meter, one horizontal plate is fixedly connected with another horizontal plate through the vertical plate, the vertical plate is fixedly connected with the side plate, the free end of the side plate is rotatably connected with the pivot, and the pivot is connected with the rope through the tension meter.

[0020] As a preferred technical scheme, the fixed plate includes a pre-tightening plate, one end of the pre-tightening plate is fixedly connected with the tension meter, the other end is threadedly connected with a pre-tightening screw, and the pre-tightening screw is fixedly connected with the rope clamping plate.

[0021] As a preferred technical scheme, the rope clamping plate includes a pressing plate and a perforated plate, at least one perforation matched with the rope is formed in the perforated plate, the rope passes through the perforation, and the pressing plate is fixedly connected with the perforated plate through bolts.

[0022] As a preferred technical scheme, one end of the pre-tightening plate connected with the tension meter is also fixedly connected with a fixed optical axis, and the pre-tightening plate is connected and fastened with the tension meter through the fixed optical axis.

[0023] As a preferred technical scheme, the drive arrangement includes a drive support, a drive motor, and a winding drum, the drive support is fixedly connected in the arm, the drive support is fixedly connected with the drive motor at the top and the bottom respectively, and the output ends of the drive motor are all transmissionally connected with the winding drum.

[0024] As a preferred technical scheme, the free end of the vertical plate is fixedly connected with a bearing seat, and the bearing seat is rotatably connected with the pivot.

[0025] As a preferred technical solution, the rope is fixed by a hole and winding.

[0026] As a preferred technical solution, the pulley block comprises two first pulleys and a second pulley, which are rotatably connected in the arm rod and located on both sides of the rope tensioning device.

[0027] As a preferred technical solution, the winding drum is matched with the rope in transmission.

[0028] The utility model discloses the advantages are:

[0029] (1) in the utility model, through the setting of fixed plate and rope clamping plate, and make the rope clamping plate can move relative to fixed plate, make the tension of whole rope can be adjusted, improve the transmission accuracy of whole mechanical arm.

[0030] (2) in the utility model, through spring, make the roller and U type support elastic connection, and the rope passes through the roller, make the roller become dynamic pulley, and its moving distance is half of the length variation of steel wire rope, can adapt to greater steel wire rope length variation, and simultaneously through spring, the variation of rope can be compensated.

[0031] (3) in the utility model, through the setting of pulley block, can prevent the interference of steel wire rope and connecting plate in the rotation process of mechanical arm. DRAWINGS

[0032] Figure 1 The tendon type rope-driven mechanical arm structure schematic view provided for the background technology of the utility model;

[0033] Figure 2 The whole structure schematic view of the tendon type rope-driven mechanical arm capable of adjusting the pre-tightening force of the rope provided for the embodiment of the utility model;

[0034] Figure 3 The arm rod internal structure schematic view of the tendon type rope-driven mechanical arm capable of adjusting the pre-tightening force of the rope provided for the embodiment of the utility model;

[0035] Figure 4 The rope wiring schematic view of the tendon type rope-driven mechanical arm capable of adjusting the pre-tightening force of the rope provided for the embodiment of the utility model;

[0036] Figure 5 The rope overhead structure schematic view of the tendon type rope-driven mechanical arm capable of adjusting the pre-tightening force of the rope provided for the embodiment of the utility model;

[0037] Figure 6 The sling shaft side structure schematic view of the tendon type rope-driven mechanical arm capable of adjusting the pre-tightening force of the rope provided for the embodiment of the utility model;

[0038] Figure 7 A sling structure schematic diagram of a tendon type rope driven mechanical arm capable of adjusting rope pre-tightening force is provided for the embodiment of the utility model;

[0039] Figure 8 A pre-tightening device structure schematic diagram of a tendon type rope driven mechanical arm capable of adjusting rope pre-tightening force is provided for the embodiment of the utility model;

[0040] Figure 9 A pre-tightening device explosion structure schematic diagram of a tendon type rope driven mechanical arm capable of adjusting rope pre-tightening force is provided for the embodiment of the utility model;

[0041] Figure 10 A rotating joint structure schematic diagram of a tendon type rope driven mechanical arm capable of adjusting rope pre-tightening force is provided for the embodiment of the utility model;

[0042] Figure 11 A rope tensioning device structure schematic diagram of a tendon type rope driven mechanical arm capable of adjusting rope pre-tightening force is provided for the embodiment of the utility model;

[0043] Figure 12 A driving device structure schematic diagram of a tendon type rope driven mechanical arm capable of adjusting rope pre-tightening force is provided for the embodiment of the utility model;

[0044] Figure 13 A pulley set structure schematic diagram of a tendon type rope driven mechanical arm capable of adjusting rope pre-tightening force is provided for the embodiment of the utility model;

[0045] Figure 14 A force analysis schematic diagram of a tendon type rope driven mechanical arm capable of adjusting rope pre-tightening force is provided for the embodiment of the utility model;

[0046] Figure 15 A winding drum structure schematic diagram of a tendon type rope driven mechanical arm capable of adjusting rope pre-tightening force is provided for the embodiment of the utility model;

[0047] Reference signs:

[0048] 1, arm; 2, lifting appliance; 201, horizontal plate; 202, side plate; 203, bearing seat; 204, rotating shaft; 205, tension meter; 206, vertical plate; 3, rotating joint; 301, joint rotating shaft plate; 302, joint frame; 303, first connecting plate; 304, encoder; 305, guide wheel set; 4, rope tensioning device; 401, fixed plate; 402, linear guide rail; 403, sliding block; 404, second connecting plate; 405, pulley; 406, spring; 407, first limiting block; 408, second limiting block; 5, driving device; 501, driving support; 502, driving motor; 5021, first motor; 5022, second motor; 503, winch; 504, gear set; 505, winding drum; 6, pulley set; 7, pre-tightening device; 701, fixed optical axis; 702, pre-tightening rotating plate; 703, pre-tightening screw; 704, pressing plate; 705, perforated plate; 8, rope. DETAILED DESCRIPTION

[0049] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described below in a clear and complete manner. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0050] Referring to Figure 2 , Figure 3 , a tendon type rope-driven mechanical arm capable of adjusting the pre-tightening force of a rope comprises an arm 1, a lifting appliance 2, a rotating joint 3, a rope tensioning device 4, a driving device 5, a pulley set 6, a pre-tightening device 7 and a rope 8. The rotating joint 3 is rotatably connected with an arm 1 at each end, and the lifting appliance 2 is fixedly connected at the center of the rotating joint 3. The end of the arm 1 away from the rotating joint 3 is sequentially provided with the pulley set 6, the rope tensioning device 4 and the driving device 5. The driving device 5 is the driving device of the entire mechanical arm, used for driving the rope 8 to transmit power. The rope tensioning device 4 compensates for the change in the rope. The end of the lifting appliance 2 is connected with the rope 8 through the pre-tightening device 7. The pulley set 6 is used to prevent the rope 8 from interfering with other equipment during the rotation of the mechanical arm. The rope 8 in the present embodiment is a steel wire rope. One steel wire rope is installed on the arm 1. Referring to Figure 4 , Figure 5 , the path of the steel wire rope is: the pre-tightening device 7 at one end of the lifting appliance 2, the pulley set 6 on the arm 1, the winch of the driving device 5, the pulley of the rope tensioning device 4, the winch of the driving device 5, the pulley set 6 on the arm 1, the pre-tightening device 7 at the other end of the lifting appliance 2. The arm 1 can be formed by frame structure splicing.

[0051] Referring to Figure 6 ,Figure 7 The lifting appliance 2 comprises a horizontal plate 201, a side plate 202, a bearing seat 203, a rotating shaft 204, a tension meter 205, and a vertical plate 206. One horizontal plate 201 is fixedly connected with another horizontal plate 201 through two vertical plates 206 to form a frame structure of the lifting appliance 2. The two vertical plates 206 are fixedly connected with the side plates 202 at the ends away from each other. The side plates 202 are fixedly connected with the bearing seats 203, and the rotating shaft 204 is rotatably connected with the bearing seats 203. The rotating shaft 204 is fixedly connected with the steel wire through the tension meter 205 on both sides. The pre-tightening force on the steel wire can be read in real time through the tension meter 205. The setting of the rotating shaft 204 can ensure that the tension meter 205 can rotate freely around the lifting appliance 2. In this way, the axis direction of the steel wire and the tension meter 205 can be kept in line at all times when the mechanical arm rotates, and the reading of the tension meter 205 can be ensured to be equal to the tension on the steel wire.

[0052] With reference to Figure 8 , Figure 9 The tension meter 205 is further connected with the steel wire through the pre-tightening device 7. The pre-tightening force on the steel wire can be adjusted through the pre-tightening device 7 to ensure the movement accuracy of the mechanical arm. One end of the tension meter 205 is fixed with the pre-tightening device 7, and the other end is fixed with the rotating shaft 204. The pre-tightening device 7 comprises a fixed optical axis 701, a pre-tightening rotating plate 702, a pre-tightening screw 703, a pressing plate 704, and a perforated plate 705. In this embodiment, the fixed plate is the pre-tightening rotating plate 702, the rope clamping plate comprises the pressing plate 704 and the perforated plate 705, and the pre-tightening rotating plate 702 can be a rectangular frame structure, but is not limited thereto and can also be a frame of other shapes. One end of the pre-tightening rotating plate 702 is fixedly connected with the fixed optical axis 701, and the fixed optical axis 701 is connected with the tension meter 205. The other end of the pre-tightening rotating plate 702 is threadedly connected with the pre-tightening screw 703. The pre-tightening screw 703 is fixedly connected with the perforated plate 705. At least one perforation is formed in the perforated plate 705 for allowing the steel wire to pass through. In this embodiment, one perforation is taken as an example, but the number of perforations is not limited thereto. The pressing plate 704 is fixed with the perforated plate 705 through bolts to press the steel wire. When the pre-tightening rotating plate 702 is rotated, the pre-tightening screw 703 will move along the axis direction to tighten the steel wire.

[0053] It should be noted that the pre-tightening rotating plate 702 and the pre-tightening screw 703 in the pre-tightening device 7 can also be a bolt and a nut, a threaded rod and a threaded sleeve, and other threaded connection structures. Taking the bolt and the nut as an example, one end of the tension meter 205 connected with the pre-tightening device 7 is fixedly connected with a bolt, and the end of the rope 8 is connected with a nut. The tension of the rope can also be adjusted through the cooperation of the bolt and the nut.

[0054] With reference to Figure 10, the rotary joint 3 comprises a joint rotation shaft plate 301, a joint frame 302, a first connecting plate 303, an encoder 304, a guide wheel set 305, the rotary joint 3 is used for connecting two arm rods 1 and provides one degree of freedom for the whole mechanical arm, the joint frame 302 is fixedly connected with a joint rotation shaft plate 301 at the top and the bottom respectively, forming an I-shaped structure, the two ends of the structure are rotatably connected with a first connecting plate 303 respectively, the rotatable connection positions of the two first connecting plates 303 with the joint rotation shaft plate 301 form a rotary shaft A and a rotary shaft B respectively, the two rotary shafts are arranged on the two sides of the middle part of the spreader 2 in a direction perpendicular to the spreader 2, and the two first connecting plates 303 are fixedly connected with the two arm rods 1 respectively, wherein the center distance of the two rotary shafts of the joint frame 302 must be greater than the width of the connecting plate, so that ± 180° rotation can be realized, two groups of guide wheel sets 305 are installed on each first connecting plate 303, which are used to prevent the steel wire rope from interfering with the first connecting plate 303 during the rotation of the mechanical arm, and the encoder 304 is installed on the rotary shaft A and the rotary shaft B, and the encoder 304 is used to read the rotation angle of the two first connecting plates 303, and the horizontal plate 201 is fixedly connected with the middle part of the joint rotation shaft plate 301.

[0055] Referring to Figure 11 , the rope tensioning device 4 comprises a fixed plate 401, a linear guide rail 402, a sliding block 403, a second connecting plate 404, a pulley 405, a spring 406, a first limiting block 407 and a second limiting block 408, the top and the bottom of the fixed plate 401 are fixedly connected with a linear guide rail 402, forming a U-shaped support, wherein the horizontal section of the U-shaped support is formed by the linear guide rail 402, and the vertical section of the U-shaped support is formed by the fixed plate 401, the top and the bottom inner walls of the arm rod 1 are fixedly connected with the linear guide rail 402 respectively, the sliding block 403 is slidably connected with the linear guide rail 402, and the pulley 405 is arranged between the two sliding blocks 403, wherein the two ends of the pulley 405 are fixed with a sliding block 403 through a second connecting plate 404, and the pulley 405 and the two second connecting plates 404 form a moving support after being fixed, the second connecting plate 404 is elastically connected with the fixed plate 401 through a plurality of springs 406, the right end of the linear guide rail 402 is fixedly connected with the second limiting block 408, and the left end is fixedly connected with the first limiting block 407, the pulley 405 is formed with a wire groove, the steel wire rope is wound in the wire groove of the pulley 405, and when the length of the steel wire rope changes, the pulley 405 moves along the linear guide rail 402 under the joint action of the spring 406 and the steel wire rope, so that the steel wire rope is always in a taut state, it should be noted that the pulley 405 in the present application is a movable pulley, and the moving distance of the movable pulley is half of the length change of the steel wire rope, so that the length change of the steel wire rope can be adapted to a larger length change;

[0056] The pulley block 6 is rotatably connected inside the boom 1 and is located on both sides of the fixed plate 401. The pulley block 6 includes two first pulleys and two second pulleys, and both the first pulleys and the second pulleys are rotatably engaged with the boom 1.

[0057] See Figure 12 , Figure 13 The drive unit 5 is fixed inside the boom 1. The boom 1 has a through hole for the rope 8 to drive. The drive unit 5 includes a drive bracket 501, two drive motors 502, a winch 503, and two gear sets 504. The drive bracket 501 is fixedly connected inside the boom 1. Two drive motors 502 are fixedly connected to the drive bracket 501, and the two drive motors 502 are symmetrically arranged. Two winches 503 are rotatably connected to the upper middle part of the drive bracket 501. The output ends of the drive motors 502 are connected to the winches 503 through the gear sets 504. The two drive motors 502 are respectively connected to the two gear sets 504. The pulley set 504 is driven by two winches 503. Each winch 503 is a mechanical device that winds but does not store rope under power. Each winch 503 has rope grooves in which the wire rope is wound. The winch 503 drives the wire rope through friction between itself and the wire rope. The friction between the winch 503 and the wire rope is positively correlated with the tension in the wire rope. The two winches 503 can rotate independently. Two motors drive the winches 503 to rotate through gear sets 504. Each winch 503 includes a first winch and a second winch, with the first winch located on top of the second winch. (See reference...) Figure 13 The cable path of the rope 8 between the rope tensioning device 4 and the drive device 5 is b, c, d, e, f, g in sequence; that is, the two first pulleys of the pulley block 6 pass through the first winch, pulley 405, second winch, and two second pulleys in sequence.

[0058] See Figure 15 Alternatively, a drum 505 can be used instead of a winch 503. The drum 505 can drive and store the wire rope, thus eliminating the need for the rope tensioning device 4. Excess wire rope can be directly wound onto the drum 505. The drive device 5 includes a drive bracket 501, a drive motor 502, and a drum 505. The drive bracket 501 serves as a mounting bracket for the drive motor 502. The drive bracket 501 is fixedly connected inside the boom 1. The boom 1 can be a truss or frame structure. The drive bracket 501 is fixedly connected to the middle of the boom 1. A drive motor 502 is fixedly connected to the top and bottom of the drive bracket 501, respectively. The output ends of the drive motor 502 are all connected to the drum 505.

[0059] Adopting the drum 505 to drive avoids the defect of steel wire rope slipping, in addition, on this basis, the rope tensioning device 4 can be selected to be removed, the steel wire rope winding of this scheme is simple, thus the defect of spring tension change can be avoided, at the same time, the friction in the steel wire rope line is also reduced, the system efficiency is high, the load capacity is strong, and in addition, removing the rope tensioning device 4 also reduces the weight of the whole machine, and reduces the cost of the whole machine.

[0060] Referring to Figure 14 , assuming that the length of the lifting appliance 2 is h, the length of the arm 1 is a, the length of the rope 8 is l, the angle between the lifting appliance 2 and the rope 8 is α, and the tension on the rope 8 is F, the left arm 1 is fixed, and the two lower ropes 8 are pulled at the same time, so that the mechanical arm rotates clockwise, and the joint torque of the tendon type rope driven mechanical arm can be known from the force analysis as follows:

[0061] M 关 = 2Fhsinα

[0062] From the above formula, it can be seen that the joint torque of the tendon type rope driven mechanical arm is positively correlated with the length of the lifting appliance 2: under the same rope tension, the longer the length of the lifting appliance 2, the greater the joint torque of the tendon type rope driven mechanical arm, that is, the lifting appliance 2 plays a role in increasing the force arm.

[0063] The tendon drive uses a rope to replace the large torque motor gear box in the traditional mechanical arm, can easily realize long distance transmission, and has smaller mass and higher structural efficiency. The tendon drive also includes a structure for increasing the force arm, so that the force arm between the force of the rope and the joint rotation shaft is longer, so that a larger joint torque is generated.

[0064] Method for use:

[0065] Four-motor time-sharing drive: taking two drive motors 502 on one arm 1 as an example, which are respectively a first motor 5021 and a second motor 5022, it can be known from formulas 1.3-1.4 that the length change rates of the steel wire ropes L1, L2 are different in the process of rotating the lifting appliance 2, and the change rates are always changing. Therefore, the speed ratio of the first motor 5021 and the second motor 5022 is always changing, in order to facilitate control, the two drive motors 502 adopt time-sharing drive, when the first motor 5021 drives the steel wire rope L2 to rotate the lifting appliance through the first winch, the second motor 5022 is in a power-off state, and the second winch is equivalent to a pulley and can rotate freely. The other end of the lifting appliance 2 will drive the second winch to rotate through the steel wire rope L1, at this time, the second motor 5022 is in a passive state. Conversely, when the second motor 5022 is powered on, the first motor 5021 is powered off and in a passive state, the lifting appliance 2 will reverse, so that the motor speed of the passive end can adapt to the motor speed of the active end, the control algorithm is simplified, and the two drive motors 502 on the other arm 1 drive in the same way as the above process.

[0066] It should be noted that the rope-driven mechanical arm in the embodiment can also be driven by four driving motors 502 simultaneously, and the four driving motors 502 drive four steel wires simultaneously, which belongs to a complete antagonistic structure and has large structural rigidity. When the four driving motors 502 are driven, the reel 505 is used instead of the winch 503. When the driving device 5 uses the winch 503, the rope tensioning device 4 must be used in the entire rope-driven mechanical arm. At this time, the four driving motors 502 can be driven simultaneously, that is, four-motor real-time driving, or the four-motor time-sharing driving described above can be used.

[0067] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced equivalently. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A tendon-type rope-driven robotic arm capable of adjusting rope pretension, comprising a boom, a lifting device, a rotary joint, a drive device, and a rope, wherein the rotary joint is fixedly connected to the lifting device and forms a cross-shaped structure, the rotary joint includes two pivots, the two pivots being offset on both sides of the middle portion of the lifting device in a direction perpendicular to the lifting device, one end of each of the two booms being connected to the two pivots respectively, and each of the two booms being provided with a drive device, characterized in that... The rope is routed between the ends of the two booms facing away from the lifting device and the two ends of the lifting device. The rope is also connected to the end of the lifting device via a pretensioning device, which includes a fixing plate and a rope clamping plate. The rope clamping plate is movable relative to the fixing plate and is fixedly connected to the rope. The drive device is used to drive the rope transmission and cause the rotating joint and the two booms to rotate.

2. The tendon-type rope-driven robotic arm capable of adjusting rope pretension according to claim 1, characterized in that, The lifting device includes a side plate, a horizontal plate, a vertical plate, a rotating shaft, and a tension gauge. One of the horizontal plates is fixedly connected to another horizontal plate via a vertical plate. A side plate is fixedly connected to the vertical plate. The free end of the side plate is rotatably connected to the rotating shaft. The tension gauge is connected to the rope via the rotating shaft.

3. A tendon-type rope-driven robotic arm capable of adjusting rope pretension according to claim 2, characterized in that, The fixing plate includes a pre-tightening rotating plate, one end of which is fixedly connected to a tension gauge, and the other end is threadedly connected to a pre-tightening screw, which is fixedly connected to a rope clamping plate.

4. A tendon-type rope-driven robotic arm capable of adjusting rope pretension according to claim 3, characterized in that, The rope clamping plate includes a pressure plate and a perforated plate. The perforated plate has at least one perforation adapted to the rope, through which the rope passes. The pressure plate is fixedly connected to the perforated plate by bolts.

5. A tendon-type cable-driven robotic arm capable of adjusting cable preload according to claim 3, characterized in that, The end of the pre-tightening rotating plate connected to the tension gauge is also fixedly connected to a fixed optical axis, and the pre-tightening rotating plate is connected and fastened to the tension gauge through the fixed optical axis.

6. A tendon-type cable-driven robotic arm capable of adjusting cable preload according to claim 1, characterized in that, The driving device includes a driving bracket, a driving motor, and a drum. The driving bracket is fixedly connected inside the arm, and the top and bottom of the driving bracket are respectively fixedly connected to the driving motor. The output end of the driving motor is connected to the drum.

7. A tendon-type cable-driven robotic arm capable of adjusting cable preload according to claim 5, characterized in that, The free end of the vertical plate is fixedly connected to a bearing seat, and the bearing seat is rotatably engaged with the rotating shaft.

8. A tendon-type rope-driven robotic arm capable of adjusting rope preload according to claim 4, characterized in that, The rope is fixed by being wound around the perforation.

9. A tendon-type cable-driven robotic arm capable of adjusting cable preload according to claim 6, characterized in that, It also includes a pulley system, which includes two first pulleys and a second pulley. Both the first pulley and the second pulley are rotatably connected inside the boom and are located on both sides of the rope tensioning device.

10. A tendon-type rope-driven robotic arm capable of adjusting rope preload according to claim 9, characterized in that, The drum is coupled with the rope drive.

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