CN105773598A - Manipulator based on rope tension transmission - Google Patents
Manipulator based on rope tension transmission Download PDFInfo
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- CN105773598A CN105773598A CN201610292470.9A CN201610292470A CN105773598A CN 105773598 A CN105773598 A CN 105773598A CN 201610292470 A CN201610292470 A CN 201610292470A CN 105773598 A CN105773598 A CN 105773598A
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- roll
- rope body
- fixed
- large arm
- joint
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of surgical robots, in particular to a manipulator based on rope tension transmission. The manipulator based on rope tension transmission comprises a base, a waist joint assembly rotationally installed on the base, a large arm hinged to the waist joint assembly, a middle arm hinged to the large arm, a small arm hinged to the middle arm and a grasping mechanism installed at the outer end of the small arm. A driving device used for driving the waist joint assembly to rotate is arranged in the base of the manipulator based on rope tension transmission and arranged in the front of the base, the layout structure can greatly reduce the mass of all parts of the manipulator and further reduce the rotation inertia of the manipulator, and the rigidity of a mechanism is improved.
Description
Technical field
The present invention relates to a kind of mechanical hand based on rope body pulling force transmission, belong to operating robot technical field.
Background technology
Medical treatment and nursing machine people is the old people design inconvenient exclusively for people with disability, heavy patient and trick.In the research of medical treatment and nursing machine people, the starting of Europe and the U.S. is relatively early.Current existing daily nursing robot system in the world; this system can when people with disability be in bed state, health can not freely movable; by being arranged on the care device of bedside, handicapped people is helped to pick up article, thus people is carried out diet treatment.
The Chinese patent that application number is CN201410848341.4 discloses one " a kind of micro-wound operation robot main manipulator based on wire rope gearing ", first three joint of this main manipulator is wire rope gearing, but this rope drive is frictional drive, need bigger pretightning force to provide enough frictional force, be additionally likely to result in the danger such as skidding under high load.
Summary of the invention
It is an object of the invention to the defect overcoming prior art to exist, it is provided that a kind of mechanical hand based on rope body pulling force transmission, adopt rope body pulling force transmission, mechanism is compacter and can avoid the skidding that in prior art, Wire Friction Driving causes.
The technical solution adopted for the present invention to solve the technical problems is:
nullThe mechanical hand based on rope body pulling force transmission of the present invention includes pedestal、It is installed in rotation on the waist joint assembly on pedestal、Large arm with waist joint member hinges、The middle arm hinged with large arm、The forearm hinged with middle arm and be arranged on the grasping mechanism of forearm outer end，The driving device driving waist joint assembly to rotate it is provided with in described pedestal，Described waist joint assembly includes the waist joint driven by described driving device、It is fixed on the motor bin above waist joint and is fixed on the roll installing rack above motor bin，Described large arm is hinged by the first driving joint and described roll installing rack，Described middle arm is hinged by the second driving joint and described large arm，Described roll installing rack inner disc is wound with the first transmission rope group and the second transmission rope group，The first driver and the second driver it is provided with in described motor bin，Described first driver drives the first driving joint to rotate by described first transmission rope group，Described first driving joint drives described large arm to rotate，Described second driver drives described second driving joint to rotate by described second transmission rope group，Described second driving joint drives described middle arm to rotate.
Waist joint of the present invention is installed in rotation on above described pedestal by bearing, and described driving device is deflection cylinder, servomotor or motor.
The first roll, the second roll and guiding wheels it are provided with in roll installing rack of the present invention, described first roll is rigidly connected by the main shaft of the first shaft coupling Yu described first driver, described second roll is rigidly connected by the main shaft of the second shaft coupling Yu described second driver, and described guiding wheels are fixed in roll installing rack and between the first roll and the second roll.
First driving joint of the present invention includes the large arm roll being fixed in large arm and the coiling collar being installed in rotation on large arm roll, described second driving joint includes the middle arm roll being fixed on middle arm, described first roll arranges described first transmission rope group, described first transmission rope group is in described guiding wheels solderless wrapped connection to described large arm roll, described second roll arranges described second transmission rope group, described second transmission rope group through described guiding wheels and the coiling collar around receiving on described middle arm roll.
Guiding wheels of the present invention include the first directive wheel, the second directive wheel, the 3rd directive wheel and the 4th directive wheel, and described first transmission rope group includes the first rope body and the second rope body, and described second transmission rope group includes the 3rd rope body and the 4th rope body.
One end of first rope body of the present invention is fixed on the lower section of the first roll, in the side of the first roll counterclockwise around 1～5 circle, through the 4th directive wheel around to large arm roll, in the side of large arm roll counterclockwise around 1～5 circle, finally after the other end tensioning of the first rope body, it is fixed on large arm roll one end near the 4th directive wheel, one end of described second rope body is fixed on the top of the first roll, counterclockwise around 1～5 circle on the first roll, through the first directive wheel around to large arm roll, at the opposite side of large arm roll counterclockwise around 1～5 circle, finally after the other end tensioning of the second rope body, it is fixed on roll one end near the first directive wheel.
One end of 3rd rope body of the present invention is fixed on the lower section of the second roll, clockwise about 1～5 circle on the second roll, it is then passed through the second directive wheel on the coiling collar, in the side of the coiling collar clockwise about 1 circle, further around the side to middle arm roll and clockwise about 1～5 circle, finally will be fixed on the top of the nearly described large arm one end of middle arm rest after the other end tensioning of the 3rd rope body, one end of described 4th rope body is fixed on the top of the second roll, clockwise about 1～5 circle on the second roll, it is then passed through the 3rd directive wheel on the coiling collar, at the opposite side of the coiling collar clockwise about 1 circle, further around the opposite side to middle arm roll clockwise about 1～5 circle, finally after the other end tensioning of the 4th rope body, pass through to be fixed on the bottom of the nearly described large arm one end of middle arm rest.
The other end of forearm of the present invention is provided with second and directly drives joint, and second directly drives the crawl bracing frame that joint includes being fixed on forearm, and described crawl bracing frame is installed the second direct driving motor, and the described output shaft of the second direct driving motor and the chassis of grasping mechanism are fixed.
The other end of forearm of the present invention is provided with crawl bracing frame, and described crawl bracing frame is installed the second direct driving motor, and the described output shaft of the second direct driving motor and the chassis of grasping mechanism are fixed.
First driver of the present invention and the second driver are servomotor or motor.
The present invention has following effect based on the mechanical hand of rope body pulling force transmission: the present invention includes pedestal based on the mechanical hand of rope body pulling force transmission, it is installed in rotation on the waist joint assembly on pedestal, large arm with waist joint member hinges, the middle arm hinged with large arm, the forearm hinged with middle arm and be arranged on the grasping mechanism of forearm outer end, wherein, the driving device driving waist joint assembly to rotate it is provided with in pedestal, driving device is preposition to pedestal, this kind of layout structure can greatly reduce the quality of each parts of mechanical hand, and then reduce the rotary inertia of mechanical hand, be conducive to improving the rigidity of mechanism.nullWaist joint assembly includes the waist joint driven by driving device、It is fixed on the motor bin above waist joint and is fixed on the roll installing rack above motor bin，Large arm is hinged by the first driving joint and roll installing rack，Middle arm is hinged by the second driving joint and large arm，Roll installing rack inner disc is wound with the first transmission rope group and the second transmission rope group，The first driver and the second driver it is provided with in motor bin，First driver drives the first driving joint to rotate by the first transmission rope group，First driving joint drives large arm to rotate，Second driver drives the second driving joint to rotate by the second transmission rope group，Second driving joint band disorder of internal organs arm rotates，First driving joint and the second driving joint adopt wire rope gearing，Effectively reduce the volume of each parts in mechanism，Compared with Wire Friction Driving，Mechanism is compacter，And steel rope abrasion can be reduced，Adopt lineoutofservice signal pull transmission，By suitable tensioning，Return difference problem can be prevented effectively from.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Fig. 1 is the overall structure schematic diagram based on lineoutofservice signal pull transmission machinery people manipulator of the present invention；
Fig. 2 is the structural representation of the pedestal based on lineoutofservice signal pull transmission machinery people manipulator of the present invention；
Fig. 3 is the roll installing rack internal structure schematic diagram based on lineoutofservice signal pull transmission machinery people manipulator of the present invention；
Fig. 4 is the first driving joint structural representation based on lineoutofservice signal pull transmission machinery people manipulator of the present invention；
Fig. 5 is the second driving joint structural representation based on lineoutofservice signal pull transmission machinery people manipulator of the present invention；
Fig. 6 is the grasping mechanism mounting structure schematic diagram based on lineoutofservice signal pull transmission machinery people manipulator of the present invention.
Wherein: pedestal 1, driving device 11, bearing 12；
Waist joint assembly 2, the first driver 21, the second driver 22, roll installing rack 23, first shaft coupling 231, the first roll 232, the second shaft coupling 233, second roll 234, guiding wheels 235, the first directive wheel 2351, the second directive wheel 2352,3rd directive wheel 2353, the 4th directive wheel 2354；
Large arm 3；Middle arm 4；Forearm 5；Grasping mechanism 6；
First driving joint 7, large arm roll 71, the coiling collar 72；
Second driving joint 8, middle arm roll 81；
First directly drives joint 91, the first direct driving motor 911, forearm bracing frame 912, forearm link 913, and second directly drives joint 92, the second direct driving motor 921, captures bracing frame 922.
Detailed description of the invention
In describing the invention, it will be appreciated that, term " radially ", " axially ", " on ", D score, " top ", " end ", " interior ", the orientation of the instruction such as " outward " or position relationship be based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or hint indication device or element must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.In describing the invention, except as otherwise noted, " multiple " are meant that two or more.
In describing the invention, it is necessary to explanation, unless otherwise clearly defined and limited, term " installation ", " setting ", " connection " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or connect integratedly；Can be joined directly together, it is also possible to be indirectly connected to by intermediary.For the ordinary skill in the art, it is possible to understand above-mentioned term concrete meaning in the present invention as the case may be.
As shown in figures 1 to 6, the mechanical hand based on rope body pulling force transmission of the present embodiment include pedestal 1, the waist joint assembly 2 that is installed in rotation on pedestal 1 and the hinged large arm 3 of waist joint assembly 2 and the hinged middle arm 4 of large arm 3 and the hinged forearm 5 of middle arm 4 and be arranged on the grasping mechanism 6 of forearm 5 outer end.Wherein, the driving device 11 driving waist joint assembly 2 to rotate it is provided with in pedestal 1, waist joint assembly 2 includes the waist joint driven by driving device 11, it is fixed on the motor bin above waist joint and is fixed on the roll installing rack 23 above motor bin, large arm 3 is hinged with roll installing rack 23 by the first driving joint 7, middle arm 4 is hinged with large arm 3 by the second driving joint 8, roll installing rack 23 inner disc is wound with the first transmission rope group and the second transmission rope group, the first driver 21 and the second driver 22 it is provided with in motor bin, first driver 21 drives the first driving joint 7 to rotate by the first transmission rope group, first driving joint 7 drives large arm 3 to rotate, second driver 22 drives the second driving joint 8 to rotate by the second transmission rope group, second driving joint 8 band disorder of internal organs arm 4 rotates.
The driving device 11 based on the mechanical hand of rope body pulling force transmission of the present embodiment is preposition to pedestal 1, and this kind of layout structure can greatly reduce the quality of each parts of mechanical hand and then the rotary inertia of reduction mechanical hand, is conducive to improving the rigidity of mechanism.
The waist joint of the present embodiment is installed in rotation on above pedestal 1 by bearing 12, and driving device 11 is deflection cylinder, servomotor or motor, and driving device 11 drives waist joint to rotate, it is possible to achieve mechanical hand entirety turns about the Z axis.
First roll the 232, second roll 234 and guiding wheels 235 it are provided with in roll installing rack 23, first roll 232 is rigidly connected by the main shaft of the first shaft coupling 231 and the first driver 21, second roll 234 is rigidly connected by the main shaft of the second shaft coupling 233 and the second driver 22, and guiding wheels 235 are fixed in roll installing rack 23 and between the first roll 232 and the second roll 234.
First driving joint 7 includes the large arm roll 71 being fixed in large arm 3 and the coiling collar 72 being installed in rotation on large arm roll 71, second driving joint 8 includes the middle arm roll 81 being fixed on middle arm 4, first roll 232 arranges the first transmission rope group, first transmission rope group passes through guiding wheels 235 around receiving on large arm roll 71, arranging the second transmission rope group on second roll 234, the second transmission rope group passes through guiding wheels 235 and the coiling collar 72 around receiving on middle arm roll 81.
nullWherein，Guiding wheels 235 include the first directive wheel 2351、Second directive wheel 2352、3rd directive wheel 2353 and the 4th directive wheel 2354，First transmission rope group includes the first rope body and the second rope body，Second transmission rope group includes the 3rd rope body and the 4th rope body，The concrete wrapping system of the first transmission rope group and the second transmission rope group is as follows: one end of the first rope body is fixed on the lower section of the first roll 232，In the side of the first roll 232 counterclockwise around 1～5 circle，Through the 4th directive wheel 2354 around to large arm roll 71，In the side of large arm roll 71 counterclockwise around 1～5 circle，Finally after the other end tensioning of the first rope body, it is fixed on large arm roll 71 one end near the 4th directive wheel 2354，One end of second rope body is fixed on the top of the first roll 232，Counterclockwise around 1～5 circle on the first roll 232，Through the first directive wheel 2351 around to large arm roll 71，At the opposite side of large arm roll 71 counterclockwise around 1～5 circle，Finally after the other end tensioning of the second rope body, it is fixed on large arm roll 71 one end near the first directive wheel 2351.
nullOne end of 3rd rope body is fixed on the lower section of the second roll 234，Clockwise about 1～5 circle on the second roll 234，It is then passed through the second directive wheel 2352 on the coiling collar 72，In the side of the coiling collar 72 clockwise about 1 circle，Further around the side to middle arm roll 81 and clockwise about 1～5 circle，Finally after the other end tensioning of the 3rd rope body, it is fixed on the middle arm 4 top near large arm 3 one end，One end of 4th rope body is fixed on the top of the second roll 234，Clockwise about 1～5 circle on the second roll 234，It is then passed through the 3rd directive wheel 2353 on the coiling collar 72，At the opposite side of the coiling collar 72 clockwise about 1 circle，Further around the opposite side to middle arm roll 81 clockwise about 1～5 circle，Finally pass through to be fixed on the middle arm 4 bottom near large arm 3 one end after the other end tensioning of the 4th rope body.
When the first driver 21 energising rotates clockwise, driving force passes to the first roll 232 by the first shaft coupling 231, drive the first rope body wrapped anti-clockwise on the first roll 232 again, through the 4th directive wheel 2354, large arm roll 71, final power acts on first rope body bearing on large arm roll 71, rotation axis is the axis of large arm roll 71, the application point of power is large arm roll 71 one end near the 4th directive wheel 2354, therefore produce a moment, order about large arm 3 and rotate counterclockwise.
When the first driver 21 energising rotates counterclockwise, driving force passes to the first roll 232 by the first shaft coupling 231, drive the second rope body wound clockwise on the first roll 232 again, through the first directive wheel 2351, large arm roll 71, final power acts on second rope body bearing in large arm 3, rotation axis is the axis of large arm roll 71, the application point of power is large arm roll 71 one end near the first directive wheel 2351, therefore produce a moment, order about large arm 3 and rotate clockwise.
When the second driver 22 energising rotates clockwise, driving force passes to the second roll 234 by the second shaft coupling 233, drive the 3rd rope body wrapped anti-clockwise on the second roll 234 again, through the second directive wheel 2352, the coiling collar 72 and middle arm roll 81, final power acts on the 3rd rope body bearing on middle arm 4, rotation axis is the axis of middle arm roll 81, the application point of power is the middle arm 4 top near large arm 3 one end, therefore produce a moment, order about middle arm 4 and rotate counterclockwise.
When the second driver 22 energising rotates counterclockwise, driving force allows shaft coupling pass to the second roll 234 by the, drive the 4th rope body wound clockwise on the second roll 234 again, through the 3rd directive wheel 2353, the coiling collar 72 and middle arm roll 81, final power acts on the 4th rope body bearing on middle arm 4, and rotation axis is the axis of middle arm roll 81, and the application point of power is the middle arm 4 bottom near large arm 3 one end, therefore produce a moment, order about middle arm 4 and rotate clockwise.
Wherein, first transmission rope group and the second transmission rope group can adopt steel wire rope to make, first driver 21 and the second driver 22 include but not limited to servomotor and motor, first driving joint 7 and the second driving joint 8 adopt lineoutofservice signal pull transmission, effectively reduce the volume of each parts in mechanism, compared with Wire Friction Driving, mechanism is compacter, and steel rope abrasion can be reduced, avoid the skidding that Wire Friction Driving causes, adopt lineoutofservice signal pull transmission, by suitable tensioning, return difference problem can be prevented effectively from.
Forearm 5 in the present embodiment directly drives joint 91 near one end of middle arm 4 by first and is connected with middle arm 4, first directly drives forearm bracing frame 912, the forearm link 913 being fixed on forearm 5 and the first direct driving motor 911 that joint 91 includes being fixed on middle arm 4, the output shaft of the first direct driving motor 911 and forearm bracing frame 912 are fixedly linked, and the body of the first direct driving motor 911 is fixed on forearm link 913.The other end of forearm 5 is provided with second and directly drives joint 92, second directly drives the crawl bracing frame 922 that joint 92 includes being fixed on forearm 5, capturing and install the second direct driving motor 921 on bracing frame 922, the output shaft of the second direct driving motor 921 and the chassis of grasping mechanism 6 are fixed.
When the first direct driving motor 911 rotates, forearm 5 will along the output shaft rotation of the first direct driving motor 911, thus driving grasping mechanism 6 to rotate, when the second direct driving motor 921 rotates, grasping mechanism 6 will along the output shaft rotation of the second direct driving motor 921.
Achieved the universal movement of grasping mechanism 6 by the drive mechanism of waist joint assembly 2, large arm 3, middle arm 4 and forearm 5, grasping mechanism 6 moves flexible and changeable.
Should be appreciated that specific embodiment described above is only for explaining the present invention, is not intended to limit the present invention.The apparent change extended out by the spirit of the present invention or variation are still among protection scope of the present invention.
Claims (10)
- null1. the mechanical hand based on rope body pulling force transmission，Including pedestal (1)、It is installed in rotation on the waist joint assembly (2) on pedestal (1)、The large arm (3) hinged with waist joint assembly (2)、The middle arm (4) hinged with large arm (3)、The forearm (5) hinged with middle arm (4) and be arranged on the grasping mechanism (6) of forearm (5) outer end，It is characterized in that: in described pedestal (1), be provided with the driving device (11) driving waist joint assembly (2) to rotate，Described waist joint assembly (2) includes the waist joint driven by described driving device (11)、It is fixed on the motor bin above waist joint and is fixed on the roll installing rack (23) above motor bin，Described large arm (3) is hinged by the first driving joint (7) and described roll installing rack (23)，Described middle arm (4) is hinged by the second driving joint (8) and described large arm (3)，Described roll installing rack (23) inner disc is wound with the first transmission rope group and the second transmission rope group，The first driver (21) and the second driver (22) it is provided with in described motor bin，Described first driver (21) drives the first driving joint (7) to rotate by described first transmission rope group，Described first driving joint (7) drives described large arm (3) to rotate，Described second driver (22) drives described second driving joint (8) to rotate by described second transmission rope group，Described second driving joint (8) drives described middle arm (4) to rotate.
- 2. the mechanical hand based on rope body pulling force transmission according to claim 1, it is characterized in that: described waist joint is installed in rotation on described pedestal (1) top by bearing (12), described driving device (11) is deflection cylinder, servomotor or motor.
- 3. the mechanical hand based on rope body pulling force transmission according to claim 2, it is characterized in that: in described roll installing rack (23), be provided with the first roll (232), second roll (234) and guiding wheels (235), described first roll (232) is rigidly connected by the main shaft of the first shaft coupling (231) Yu described first driver (21), described second roll (234) is rigidly connected by the main shaft of the second shaft coupling (233) Yu described second driver (22), described guiding wheels (235) are fixed in roll installing rack (23) and are positioned between the first roll (232) and the second roll (234).
- 4. the mechanical hand based on rope body pulling force transmission according to claim 3, it is characterized in that: described first driving joint (7) includes the large arm roll (71) being fixed in large arm (3) and the coiling collar (72) being installed in rotation on large arm roll (71), described second driving joint (8) includes the middle arm roll (81) being fixed on middle arm (4), described first roll (232) arranges described first transmission rope group, described first transmission rope group through described guiding wheels (235) around receiving on described large arm roll (71), described second roll (234) arranges described second transmission rope group, described second transmission rope group through described guiding wheels (235) and the coiling collar (72) around receiving on described middle arm roll (81).
- 5. the mechanical hand based on rope body pulling force transmission according to claim 4, it is characterized in that: described guiding wheels (235) include the first directive wheel (2351), the second directive wheel (2352), the 3rd directive wheel (2353) and the 4th directive wheel (2354), described first transmission rope group includes the first rope body and the second rope body, and described second transmission rope group includes the 3rd rope body and the 4th rope body.
- null6. the mechanical hand based on rope body pulling force transmission according to claim 5，It is characterized in that: one end of described first rope body is fixed on the lower section of the first roll (232)，In the side of the first roll (232) counterclockwise around 1～5 circle，Through the 4th directive wheel (2354) around to large arm roll (71)，In the side of large arm roll (71) counterclockwise around 1～5 circle，Finally after the other end tensioning of the first rope body, it is fixed on large arm roll (71) one end near the 4th directive wheel (2354)，One end of described second rope body is fixed on the top of the first roll (232)，Upper counterclockwise around 1～5 circle at the first roll (232)，Through the first directive wheel (2351) around to large arm roll (71)，At the opposite side of large arm roll (71) counterclockwise around 1～5 circle，Finally after the other end tensioning of the second rope body, it is fixed on large arm roll (71) one end near the first directive wheel (2351).
- null7. the mechanical hand based on rope body pulling force transmission according to claim 6，It is characterized in that: one end of described 3rd rope body is fixed on the lower section of the second roll (234)，Clockwise about 1～5 circle on the second roll (234)，It is then passed through the second directive wheel (2352) on the coiling collar (72)，In the side of the coiling collar (72) clockwise about 1 circle，Further around the side to middle arm roll (81) and clockwise about 1～5 circle，Finally after the other end tensioning of the 3rd rope body, it is fixed on the middle arm (4) top near described large arm (3) one end，One end of described 4th rope body is fixed on the top of the second roll (234)，Clockwise about 1～5 circle on the second roll (234)，It is then passed through the 3rd directive wheel (2353) on the coiling collar (72)，At the opposite side of the coiling collar (72) clockwise about 1 circle，Further around the opposite side to middle arm roll (81) clockwise about 1～5 circle，Finally after the other end tensioning of the 4th rope body, it is fixed on the middle arm (4) bottom near described large arm (3) one end.
- 8. the mechanical hand based on rope body pulling force transmission according to claim 7, it is characterized in that: described forearm (5) directly drives joint (91) near one end of middle arm (4) by first and is connected with described middle arm (4), described first directly drives the forearm bracing frame (912) that joint (91) includes being fixed on described middle arm (4), it is fixed on the forearm link (913) on described forearm (5) and the first direct driving motor (911), the output shaft of described first direct driving motor (911) and described forearm bracing frame (912) are fixedly linked, the body of described first direct driving motor (911) is fixed on forearm link (913).
- 9. the mechanical hand based on rope body pulling force transmission according to claim 8, it is characterized in that: the other end of described forearm (5) is provided with second and directly drives joint (92), second directly drives the crawl bracing frame (922) that joint (92) includes being fixed on forearm (5), upper the second direct driving motor (921) of installing of described crawl bracing frame (922), the output shaft of described second direct driving motor (921) and the chassis of grasping mechanism (6) are fixed.
- 10. the mechanical hand based on rope body pulling force transmission according to claim 9, it is characterised in that: described first driver (21) and the second driver (22) are servomotor or motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610292470.9A CN105773598B (en) | 2016-05-05 | 2016-05-05 | A kind of manipulator based on rope body pulling force transmission |
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| CN201610292470.9A CN105773598B (en) | 2016-05-05 | 2016-05-05 | A kind of manipulator based on rope body pulling force transmission |
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| CN105773598A true CN105773598A (en) | 2016-07-20 |
| CN105773598B CN105773598B (en) | 2018-10-16 |
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| CN111015644A (en) * | 2019-12-24 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope drives formula arm based on coupling linkage |
| CN111300394A (en) * | 2020-04-09 | 2020-06-19 | 浙江大学 | Automatic tensioning and controllable-tensioning-force line transmission device |
| CN111927881A (en) * | 2020-08-17 | 2020-11-13 | 曾镇涛 | Mechanical device based on rope body tension transmission |
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| CN111959313B (en) * | 2020-07-20 | 2021-09-28 | 杭州电子科技大学 | Mobile charging pile robot and charging method thereof |
| CN111927881A (en) * | 2020-08-17 | 2020-11-13 | 曾镇涛 | Mechanical device based on rope body tension transmission |
| CN112057025A (en) * | 2020-09-02 | 2020-12-11 | 武汉轻工大学 | Wiping mechanism |
| CN112171716A (en) * | 2020-09-24 | 2021-01-05 | 北京卓誉科技有限公司 | Multi-shaft heavy-load long-arm unfolding mechanical arm capable of being folded in at limit and unfolded quickly |
| CN115953940A (en) * | 2022-10-25 | 2023-04-11 | 深圳技术大学 | Portable surgical robot teaching equipment |
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