CN205614700U - Rope driving device arm rotation joint's structure - Google Patents
Rope driving device arm rotation joint's structure Download PDFInfo
- Publication number
- CN205614700U CN205614700U CN201620390945.3U CN201620390945U CN205614700U CN 205614700 U CN205614700 U CN 205614700U CN 201620390945 U CN201620390945 U CN 201620390945U CN 205614700 U CN205614700 U CN 205614700U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- hole
- belt wheel
- timing belt
- rope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a rope driving device arm rotation joint's structure, connect the clamp splice including synchronous pulley axle, hold -in range, angle sensor, arm joint bearing end cover, deep groove ball bearing, angular contact ball bearing, the arm that is equipped with connecting hole and wire rope through -hole, the synchronous pulley axle include band pulley end and axle head from top to bottom, set gradually sensor accommodation hole, sensor output shaft hole, cross countersunk screw internal thread hole along the axis of synchronous pulley axle, deep groove ball bearing and angular contact ball bearing inner circle pass through transition fit to be fixed respectively the band pulley is served, the lower part. The utility model discloses can realize joint motion in a big way, adopt dismantled and assembled structure, the convenience is keeped in repair with the transport, is simplified the structure, is improved articular operating efficiency, is avoided the joint motions coupling, the problem of can only stretch among the rope driving process incompressible is solved, simple structure, the stroke scope is big, is suitable for very much to install at the wheelchair, and nursing bed etc. Is help the disabled on the equipment of helping the elderly.
Description
Technical field
This utility model relates to robot field, particularly relates to a kind of rope and drives the structure of mechanical arm cradle head.
Background technology
Rope actuation techniques is the most gradually coming into one's own, and it mainly by motor and arrangements for speed regulation being all arranged on base driving box, drives diarthrodial motion by rope, thus the weight of mechanical arm has been greatly reduced.The difficulty that existing series connection rope drives the design of cradle head mechanism is bigger, needs winding configuration and the layout type of ingehious design rope, by the windings repeatedly organizing wheels more, makes full use of rope drive and completes deceleration.Existing mode is for realizing speed governing and long-distance transmissions power, and wheels are more, and mechanism is complicated, and weight is big, and cannot solve joint motions coupling and the less shortcoming of driving scope.The rope drive system cradle head that the utility model proposes, it is possible to significantly alleviate the complexity of mechanical arm deadweight and mechanism, improve mechanical arm dynamic property, solves articulation structure in actuation techniques of in the past restricting complicated, the little problem with joint motions coupling of range of movement；Use dismantled and assembled structure, convenient maintenance and carrying；Use major part integrated design, simplify structure, improve the operational efficiency in joint.This mechanical arm structure is suitably mounted to wheelchair, nursing bed etc. and helps the disabled on the equipment of helping the elderly, and can effectively help old people, people with disability to realize taking care of oneself.
Utility model content
The purpose of this utility model is to overcome deficiencies of the prior art, it is provided that a mechanism is simple, range of movement is big, non-coupling rope drives mechanical arm cradle head, and the purpose of this utility model is achieved through the following technical solutions:
A kind of rope drives the structure of mechanical arm cradle head, including Timing Belt wheel shaft, Timing Belt, angular transducer, shoulder joint bearing (ball) cover, deep groove ball bearing, angular contact ball bearing, the mechanical arm being provided with connecting hole and steel wire rope through hole connects fixture block, described Timing Belt wheel shaft from top to bottom includes belt wheel end and axle head, axis along Timing Belt wheel shaft is disposed with sensor pocket hole, sensor output shaft connecting hole, crossed countersunk head screw internal thread hole, described deep groove ball bearing and angular contact ball bearing inner ring are separately fixed on described belt wheel end by interference fits, bottom, described belt wheel end matches with Timing Belt, described axle head is connected the fixing connection of connecting hole of fixture block with mechanical arm；The two ends of described Timing Belt connect the rope driving means of tool rotating function respectively by steel wire rope；Described shoulder joint bearing (ball) cover is fixing on the robotic arm, matches with the outer ring of deep groove ball bearing simultaneously；Described angular transducer is arranged in Timing Belt wheel shaft, and its housing coordinates with sensor pocket interporal lacuna, and case top is fixing with shoulder joint bearing (ball) cover simultaneously is connected, and the output shaft of described angular transducer is fixing with sensor output shaft connecting hole to be connected.
Rope described in this programme drives the structure of mechanical arm cradle head to utilize the Timing Belt of connecting steel wire ropes to drive Timing Belt wheel shaft to rotate, and the axle head of Timing Belt wheel shaft is fixed on mechanical arm and connects on fixture block, power reaches next mechanical arm, drives next mechanical arm to rotate.Timing Belt wheel shaft respectively by two ball bearings on shoulder joint bearing (ball) cover and mechanical arm base plate, it is achieved vertically axially and radially fixing of cradle head axle, it is ensured that the belt shaft stationarity when rotating.When driving motor forward and backward, driving coupled Timing Belt to move, and then pull Timing Belt wheel shaft to rotate, joint completes the action of respective direction.
Further; also include the column sensor protective sleeve that inwall closely cooperates, outer wall coordinates with sensor pocket interporal lacuna with the housing of angular transducer; the top of described sensor protective sleeve is fixing with shoulder joint bearing (ball) cover to be connected, and bottom is centrally located the shoulder hole coordinated with the output shaft clearance of described angular transducer.
Further, described sensor protective sleeve uses dismantled and assembled split-type structural, is provided with the rectangular channel for disposing circuit, facilitates the dismounting of angular transducer in the middle part of it.
Further, offsettingly it is provided with sunk screw bottom described sensor protective sleeve and connects the countersunk screw hole of Timing Belt wheel shaft, make angular transducer fixing more firm.
Further, on described Timing Belt wheel shaft, pivot center vertical direction is provided with the first internal thread through hole, it is equipped with the tack holding screw of output shaft for fixing described angular transducer in described first internal thread through hole, is further ensured that the output shaft of angular transducer is connected with the fixing of Timing Belt wheel shaft.
Further, the length of described Timing Belt is at least 1.5 times of belt wheel end circumference.Rotate in the range of ensureing to horizontally rotate 360 ° of joint.
Further, described axle head being provided with and rises as high as the banks, described mechanical arm connects fixture block side and has the second internal thread through hole in the horizontal direction, is equipped with the tack holding screw for the described axle head of fixing connection in described second internal thread through hole.This Kong Yuqi axis direction through hole intersects, and holding screw is screwed into from internal thread through hole, with fixing Timing Belt wheel shaft, it is achieved axle head and described mechanical arm connect the power transmission between fixture block, then drives the mechanical arm being attached thereto to rotate.
Further, described mechanical arm connects fixture block and includes on mechanical arm fixture block under fixture block and mechanical arm, vertically it is provided with the belt shaft coordinated with axle head on described mechanical arm in the middle part of fixture block and is connected through hole, two sides are provided with the connecting screw hole for connecting mechanical arm base plate, the belt shaft that under described mechanical arm, the top of fixture block vertically has with axle head cooperation is connected counterbore, bottom has the second countersunk head through hole with the second crossed countersunk head screw fit, two sides are provided with the connecting screw hole for connecting mechanical arm base plate, on described mechanical arm, under fixture block and mechanical arm, fixture block coordinates and is respectively provided with two sections of ladder half slots being parallel to each other in plane, wire rope casing penetrates the half slot being relatively large in diameter and is secured by from outside, steel wire rope passes from sleeve pipe, next joint motions are driven by the half slot that diameter is less.
Further, the spacing of described ladder half slot matches with the diameter of belt wheel end.
Further, described wire rope casing includes outer wall plastic layer and braided wire rope layer from outside to inside.
Compared with prior art, this utility model has the advantage that and effect:
This rope drives mechanical arm cradle head, and drive form selects Timing Belt to pull synchronous pulley to rotate, and realizes transmission by engaging between Timing Belt tooth and synchronous pulley teeth, and both are without relatively sliding, and make peripheral speed synchronize.Operating steadily, gear ratio is constant, compact conformation, and transmission efficiency is high.
Critical piece uses modularity composite structural design, and synchronous pulley and joint are rotated main shaft and combine by Timing Belt wheel shaft, simplify articulation structure, owing to the minimizing of part improves operational efficiency.Timing Belt wheel shaft is designed with the step surface coordinated with ball bearing inner ring, and belt wheel end is by two ball bearings, it is achieved vertically axially and radially fixing of cradle head axle.When Timing Belt wheel shaft rotates, on axle journal, two ball bearing inner ring synchronous rotaries, decrease frictional resistance.
Use the bracing wire being made up of bracing wire steel wire rope and bracing wire sleeve, the end of sleeve is fixed, drive driven by motor bracing wire steel wire rope to move in bracing wire sleeve and reach transmission purpose.The motion in one joint will not produce impact to other joint, it is to avoid rope drive in the problem of joint motions coupling.
Installing angular transducer additional in Timing Belt wheel shaft rotation axis direction, angular transducer axle is fixed in Timing Belt wheel shaft axis through bore by holding screw.When Timing Belt wheel shaft drives joint to rotate, the synchronous rotation of angular transducer axle, joint rotation angle can be recorded accurately, it is simple to the data point reuse joint position that control system is passed back, it is achieved accurately control according to angular transducer.The angular transducer protection set of typing formula is installed additional, it is achieved to being easy to again dismounting while angle sensor protection outside angular transducer.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of structure driving mechanical arm cradle head of restricting in embodiment.
Fig. 2 is the schematic front view of Timing Belt wheel shaft in Fig. 1.
Fig. 3 is the left view schematic diagram of Timing Belt wheel shaft in Fig. 1.
Fig. 4 is the cross-sectional schematic of Timing Belt wheel shaft in Fig. 1.
Fig. 5 is the structural representation of shoulder joint bearing (ball) cover in Fig. 1.
Fig. 6 is the assembling structural representation of mechanical arm up/down fixture block in Fig. 1.
Fig. 7 is the structural representation of fixture block under mechanical arm in Fig. 1.
Fig. 8 is the structural representation of angular transducer protection set in Fig. 1.
Fig. 9 is the Local Structure schematic diagram of angular transducer protection set in Fig. 1.
Shown in figure it is: 1-Timing Belt wheel shaft；2-shoulder joint bearing (ball) cover；3-the first crossed countersunk head screw；4-sensor protective sleeve；5-angular transducer；6-deep groove ball bearing；7-belt wheel small end packing ring；8-Timing Belt；9-belt wheel big end packing ring；10-angular contact ball bearing；11-the first tack holding screw；Fixture block on 12-mechanical arm；13-the second tack holding screw；14-the 3rd tack holding screw；Fixture block under 15-mechanical arm；16-the second crossed countersunk head screw；17-belt wheel end；18-rises as high as the banks；19-axle head；20-the first internal thread through hole；21-protection set receiving hole；22-sensor output shaft connecting hole；23-crossed countersunk head screw internal thread hole；24-step surface；25-the first countersunk head through hole；26-belt shaft connects through hole；27-the second internal thread through hole；28-steel wire rope；29-connecting screw hole；30-ladder half slot；31-belt shaft connects counterbore；32-the second countersunk head through hole；33-the 3rd internal thread through hole；34-rectangular channel；Inner chamber fixed by 35-sensor；36-shoulder hole；37-the first mechanical arm；38-the second mechanical arm；39-countersunk screw hole.
Detailed description of the invention
Below in conjunction with the accompanying drawings of the present utility model being embodied as is described in further detail, but enforcement of the present utility model is not limited to this.
nullAs shown in Figures 1 to 4，A kind of rope drives the structure of mechanical arm cradle head，Including Timing Belt wheel shaft 1、Timing Belt 8、Angular transducer 5、Shoulder joint bearing (ball) cover 2、Deep groove ball bearing 6、Angular contact ball bearing 10、The mechanical arm being provided with connecting hole and steel wire rope through hole connects fixture block，Described Timing Belt wheel shaft 1 from top to bottom includes belt wheel end 17 and axle head 19，Axis along Timing Belt wheel shaft 1 is disposed with sensor pocket hole 21、Sensor output shaft connecting hole 22、Crossed countersunk head screw internal thread hole 23，Described deep groove ball bearing 6 and angular contact ball bearing 10 inner ring are separately fixed on described belt wheel end 17、Bottom，Simultaneously，Belt wheel small end packing ring 7 it is provided with between deep groove ball bearing 6 inner ring end face and belt wheel end 17 shaft shoulder，Belt wheel big end packing ring 9 it is provided with between described angular contact ball bearing 10 and belt wheel end 17 shaft shoulder，Realize axially and radially being accurately positioned of bearing，Described belt wheel end 17 matches with Timing Belt 8，Described axle head 19 is connected the fixing connection of connecting hole of fixture block with mechanical arm；The two ends of described Timing Belt 8 connect the rope driving means of tool rotating function respectively by steel wire rope 28；Described shoulder joint bearing (ball) cover 2 is fixed on the first mechanical arm 37, match with the outer ring of deep groove ball bearing 6 simultaneously, described shoulder joint bearing (ball) cover 2 exterior arc surface and the first mechanical arm 37 base plate arc surface coordinate, two sides have connecting screw hole 29, it is fixed on the first mechanical arm 37 base plate with screw, centre has the step surface 24 of diameter and deep groove ball bearing 6 outer ring interference fit, its center of circle and Timing Belt wheel shaft 1 axis are on the same line, top center has four the first countersunk head through holes 25 (see Fig. 5), with the first crossed countersunk head screw 3, sensor protective sleeve 4 is coupled with shoulder joint bearing (ball) cover 2, shoulder joint bearing (ball) cover 2 epitaxial end is slotted.
In order to accurately measure the angle described in the real-time rotational angle in joint, sensor 5 is arranged in Timing Belt wheel shaft 1, its housing and sensor pocket hole 21 matched in clearance, case top is fixing with shoulder joint bearing (ball) cover 2 simultaneously is connected, and the output shaft of described angular transducer 5 is connected by interference fits is fixing with sensor output shaft connecting hole 22.
Rope described in the present embodiment drives the structure of mechanical arm cradle head to utilize the Timing Belt 8 of connecting steel wire ropes to drive Timing Belt wheel shaft to rotate, the axle head 19 of Timing Belt wheel shaft 1 is fixed on mechanical arm and connects on fixture block, power is reached the second mechanical arm 38, drives the second mechanical arm 38 to rotate.Belt wheel end 17 uses standard component specification, and size, tooth form are supporting with respective synchronization band 8, and Timing Belt 8 pulls Timing Belt wheel shaft 1 to rotate, and power is transferred to the second mechanical arm 38, to reach function of joint.Timing Belt wheel shaft 1 respectively by two ball bearings on shoulder joint bearing (ball) cover 2 and the first mechanical arm 37 base plate, it is achieved vertically axially and radially fixing of cradle head axle, it is ensured that the Timing Belt wheel shaft 1 stationarity when rotating and motility.When driving motor forward and backward, driving coupled Timing Belt 8 to move, and then pull Timing Belt wheel shaft 1 to rotate, joint completes the action of respective direction.
As shown in Figure 8, Figure 9; in one feasible embodiment of this utility model; sensor pocket hole 21 also include the housing of inwall and angular transducer 5 closely cooperate, the column sensor protective sleeve 4 of outer wall and sensor pocket hole 21 matched in clearance; the top of described sensor protective sleeve 4 is provided with four the 3rd internal thread through hole 33; it is connected by four the first crossed countersunk head screws 3 are fixing with shoulder joint bearing (ball) cover 2; bottom is centrally located the shoulder hole 36 coordinated with the output shaft clearance of described angular transducer 5, facilitates installation and the operating of angular transducer 5.
In one feasible embodiment of this utility model, described sensor protective sleeve 4 uses dismantled and assembled split-type structural, is provided with the rectangular channel 34 for disposing circuit, facilitates the dismounting of angular transducer in the middle part of it.
In one feasible embodiment of this utility model, offsettingly it is provided with sunk screw bottom described sensor protective sleeve 4 and connects the countersunk screw hole 39 of Timing Belt wheel shaft 1, make angular transducer 5 fixing more firm.
In one feasible embodiment of this utility model, on described Timing Belt wheel shaft 1, pivot center vertical direction is provided with the first internal thread through hole 20, it is equipped with the first tack holding screw 11 of output shaft for fixing described angular transducer 5 in described first internal thread through hole 20, further ensures that the output shaft of angular transducer 5 is connected with the fixing of Timing Belt wheel shaft 1.
In one feasible embodiment of this utility model, the length of described Timing Belt 8 is at least 1.5 times of belt wheel end 17 circumference.Rotate in the range of ensureing to horizontally rotate 360 ° of joint, to realize bigger range of activity.
In one feasible embodiment of this utility model, it is arranged with two on described axle head 19 in parallel and rises as high as the banks 18, described mechanical arm connects fixture block side and has two the second internal thread through hole 27 in the horizontal direction, is equipped with the second internal thread through hole 27 for the described axle head of fixing connection 19 in two the second internal thread through hole 27.Second internal thread through hole 27 is connected through hole 26 axis direction through hole and intersects vertically with belt shaft, second tack holding screw 13 and the 3rd tack holding screw 14 are risen as high as the banks with two after being screwed into from two the second internal thread through hole 27 respectively and 18 are matched, become and be rigidly connected, described rise as high as the banks 18 width slightly larger than the second tack holding screw 13 and nominal diameter of the 3rd tack holding screw 14, with fixing Timing Belt wheel shaft 1, realize axle head 19 and described mechanical arm connects the power between fixture block and transmits, then drive the second mechanical arm 38 being attached thereto to rotate.
nullSuch as Fig. 6、Shown in Fig. 7，In one feasible embodiment of this utility model，Described mechanical arm connects fixture block and includes on mechanical arm fixture block 15 under fixture block 12 and mechanical arm，Vertically it is provided with the belt shaft with axle head 19 interference fits on described mechanical arm in the middle part of fixture block 12 and is connected through hole 26，Two sides are provided with the connecting screw hole 29 for connecting the second mechanical arm 38 base plate，The belt shaft that under described mechanical arm, the top of fixture block 15 vertically has with axle head 19 interference fits is connected counterbore 31，Bottom has the second countersunk head through hole 32 coordinated with the second crossed countersunk head screw 16，Two sides are provided with the connecting screw hole 29 for connecting mechanical arm base plate，On described mechanical arm, under fixture block 12 and mechanical arm, fixture block 15 coordinates and is respectively provided with two sections of ladder half slots 30 being parallel to each other in plane，The spacing of described ladder half slot 30 matches with the diameter of belt wheel end 17.Wire rope casing penetrates the half slot being relatively large in diameter and is secured by from outside, and steel wire rope 28 passes from sleeve pipe, drives next joint motions by the half slot that diameter is less.Described wire rope casing includes outer wall plastic layer and braided wire rope layer from outside to inside, forms flexible transmission system.
This utility model utilizes two steel wire ropes 28 to simultaneously drive the motion of a Timing Belt wheel shaft 1, and the driving of general rope can be overcome can only to stretch incoercible shortcoming.Two steel wire ropes 28 are only subjected to pulling force, need not bear compression stress, just can complete the driving to the motion of joint both forward and reverse directions.When driving motor to rotate to certain direction, Timing Belt 8 is driven to move, thus drive steel wire rope 28, steel wire rope 28 drives the Timing Belt 8 being positioned on joint, thus drive the Timing Belt wheel shaft 1 of the first mechanical arm 37 to rotate, Timing Belt wheel shaft 1 drives again on the mechanical arm connected firmly with it fixture block 15 under fixture block 12 and mechanical arm, thus drives the second mechanical arm 38 to rotate, it is achieved function of joint.Owing to passive and synchronous band is enclosed within passive belt wheel, because the length of Timing Belt 8 is at least 1.5 times of belt wheel end 17 circumference, so can guarantee that cradle head rotates in the range of 360 °, meet bigger range of activity.
From the above, the rope that the utility model proposes drives the structure of mechanical arm cradle head, compared with other rope driving joint of mechanical arm, has compact conformation, dismantled and assembled performance is good, error is little, can realize accurately controlling, and space is big, the advantages such as coupling without joint motions, joint is unpowered component, it is possible to effectively alleviate the weight of mechanical arm, improves mechanical hand bearing capacity and and dynamic property.Synchronous pulley and joint main shaft are combined, simplifies structure, decrease because mechanism connects the kinetic equation loss brought.Joint installs additional angular transducer, in real time to control system feedback angle data, to control motor correction deviation, improves kinematic accuracy and the operability of whole system.In this utility model, each driving motor drives a cradle head, when driving the rotation of motor, active synchronization band pulls steel cable, another steel cable is rotated joint and pulls, during whole driving, steel wire rope remains tension, solves rope driving and can only stretch incoercible unipolarity problem.
Above-described embodiment of the present utility model is only for clearly demonstrating this utility model example, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.All any amendment, equivalent and improvement etc. made within spirit of the present utility model and principle, within should be included in this utility model scope of the claims.
Claims (10)
- null1. the structure of a driving mechanical arm cradle head of restricting，It is characterized in that，Including Timing Belt wheel shaft (1)、Timing Belt (8)、Angular transducer (5)、Shoulder joint bearing (ball) cover (2)、Deep groove ball bearing (6)、Angular contact ball bearing (10)、The mechanical arm being provided with connecting hole and steel wire rope through hole connects fixture block，Described Timing Belt wheel shaft (1) from top to bottom includes belt wheel end (17) and axle head (19)，Axis along Timing Belt wheel shaft (1) is disposed with sensor pocket hole (21)、Sensor output shaft connecting hole (22)、Crossed countersunk head screw internal thread hole (23)，Described deep groove ball bearing (6) and angular contact ball bearing (10) inner ring are separately fixed on described belt wheel end (17)、Bottom，Described belt wheel end (17) matches with Timing Belt (8)，Described axle head (19) is connected the fixing connection of connecting hole of fixture block with mechanical arm；The two ends of described Timing Belt (8) connect the rope driving means of tool rotating function respectively by steel wire rope (28)；Described shoulder joint bearing (ball) cover (2) is fixing on the robotic arm, matches with the outer ring of deep groove ball bearing (6) simultaneously；Described angular transducer (5) is arranged in Timing Belt wheel shaft (1), its housing and sensor pocket hole (21) matched in clearance, case top is fixing with shoulder joint bearing (ball) cover (2) simultaneously is connected, and the output shaft of described angular transducer (5) is fixing with sensor output shaft connecting hole (22) to be connected.
- Rope the most according to claim 1 drives the structure of mechanical arm cradle head; it is characterized in that: also include the housing of inwall and angular transducer (5) closely cooperate, the column sensor protective sleeve (4) of outer wall and sensor pocket hole (21) matched in clearance; the top of described sensor protective sleeve (4) is fixing with shoulder joint bearing (ball) cover (2) to be connected, and bottom is centrally located the shoulder hole (36) coordinated with the output shaft clearance of described angular transducer (5).
- Rope the most according to claim 2 drives the structure of mechanical arm cradle head; it is characterized in that: described sensor protective sleeve (4) uses integral type or dismantled and assembled split-type structural, is provided with the rectangular channel (34) for disposing circuit in the middle part of it.
- Rope the most according to claim 2 drives the structure of mechanical arm cradle head, it is characterised in that: described sensor protective sleeve (4) bottom is offsettingly provided with sunk screw and connects the countersunk screw hole (39) of Timing Belt wheel shaft (1).
- Rope the most according to claim 1 drives the structure of mechanical arm cradle head, it is characterized in that: on described Timing Belt wheel shaft (1), pivot center vertical direction is provided with the first internal thread through hole (20), in described first internal thread through hole (20), be equipped with the tack holding screw of output shaft for fixing described angular transducer (5).
- Rope the most according to claim 1 drives the structure of mechanical arm cradle head, it is characterised in that: the length of described Timing Belt is at least 1.5 times of belt wheel end (17) circumference.
- Rope the most according to claim 1 drives the structure of mechanical arm cradle head, it is characterized in that: be provided with, on described axle head (19), rise as high as the banks (18), described mechanical arm connects fixture block side and has the second internal thread through hole (27) in the horizontal direction, is equipped with the tack holding screw for the described axle head of fixing connection (19) in described second internal thread through hole (27).
- nullRope the most according to claim 1 drives the structure of mechanical arm cradle head，It is characterized in that: described mechanical arm connects fixture block and includes fixture block (15) under fixture block on mechanical arm (12) and mechanical arm，Vertically it is provided with, in the middle part of fixture block (12), the belt shaft coordinated with axle head (19) on described mechanical arm and is connected through hole (26)，Two sides are provided with the connecting screw hole (29) for connecting mechanical arm base plate，Under described mechanical arm, the top of fixture block (15) vertically has the belt shaft coordinated with axle head (19) and is connected counterbore (31)，Bottom has the second countersunk head through hole (32) coordinated with the second crossed countersunk head screw (16)，Two sides are provided with the connecting screw hole (29) for connecting mechanical arm base plate，On described mechanical arm, under fixture block (12) and mechanical arm, fixture block (15) coordinates and is respectively provided with two sections of ladder half slots (30) being parallel to each other in plane，Wire rope casing penetrates the half slot being relatively large in diameter and is secured by from outside，Steel wire rope passes from sleeve pipe，Next joint motions are driven by the half slot that diameter is less.
- Rope the most according to claim 8 drives the structure of mechanical arm cradle head, it is characterised in that: the spacing of described ladder half slot (30) matches with the diameter of belt wheel end (17).
- Rope the most according to claim 8 drives the structure of mechanical arm cradle head, it is characterised in that: described wire rope casing includes outer wall plastic layer and braided wire rope layer from outside to inside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620390945.3U CN205614700U (en) | 2016-04-29 | 2016-04-29 | Rope driving device arm rotation joint's structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620390945.3U CN205614700U (en) | 2016-04-29 | 2016-04-29 | Rope driving device arm rotation joint's structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205614700U true CN205614700U (en) | 2016-10-05 |
Family
ID=57025489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620390945.3U Withdrawn - After Issue CN205614700U (en) | 2016-04-29 | 2016-04-29 | Rope driving device arm rotation joint's structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205614700U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710895A (en) * | 2016-04-29 | 2016-06-29 | 华南理工大学 | Structure of rope-driven mechanical arm rotation joint |
| CN106438972A (en) * | 2016-11-02 | 2017-02-22 | 哈尔滨工业大学 | Joint capable of adjusting gear clearance |
| CN109094413A (en) * | 2018-09-17 | 2018-12-28 | 享奕自动化科技（上海）有限公司 | It is oriented to articulation mechanism and rope drives mechanical arm |
-
2016
- 2016-04-29 CN CN201620390945.3U patent/CN205614700U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710895A (en) * | 2016-04-29 | 2016-06-29 | 华南理工大学 | Structure of rope-driven mechanical arm rotation joint |
| CN106438972A (en) * | 2016-11-02 | 2017-02-22 | 哈尔滨工业大学 | Joint capable of adjusting gear clearance |
| CN106438972B (en) * | 2016-11-02 | 2019-03-26 | 哈尔滨工业大学 | A kind of joint of adjustable gear clearance |
| CN109094413A (en) * | 2018-09-17 | 2018-12-28 | 享奕自动化科技（上海）有限公司 | It is oriented to articulation mechanism and rope drives mechanical arm |
| CN109094413B (en) * | 2018-09-17 | 2020-06-12 | 享奕自动化科技（上海）有限公司 | Guide joint mechanism and rope-driven mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102672715B (en) | One is help the disabled/is helped the elderly by rope driving machine mechanical arm | |
| CN205614700U (en) | Rope driving device arm rotation joint's structure | |
| CA2975272C (en) | Long stroke pumping unit | |
| CN108186279B (en) | Rotary internal and external joint for rehabilitation exoskeleton mechanism | |
| CN105710895A (en) | Structure of rope-driven mechanical arm rotation joint | |
| CN204394934U (en) | A kind of exoskeleton-type arm rehabilitation training device | |
| CN103552089B (en) | A kind of Series-parallel connection ball joint device | |
| CN104511909A (en) | Robot arm | |
| CN109481234B (en) | Double-freedom-degree rehabilitation training device capable of simulating human gait | |
| CN210050220U (en) | Oscillating bidirectional transmission device | |
| CN111643854A (en) | Rope-driven weight-reducing robot for gait rehabilitation training | |
| US9797492B2 (en) | Force converter apparatus and method | |
| KR101405156B1 (en) | Generating system | |
| CN207300617U (en) | Drilling machine for soft rock coring | |
| CN105972170B (en) | A kind of rope drive pulley of rope driving ectoskeleton mechanical arm | |
| CN109650186A (en) | A kind of communication big data engineering communications cable draw off gear | |
| CN205869539U (en) | Lathe with swivelling movement formula guide box | |
| CN102008789B (en) | Air landing device | |
| CN204692429U (en) | A kind of clip piston offshore field auxiliary power facility | |
| CN209262191U (en) | A kind of harmonic reduction assembly and wave producer | |
| CN201705600U (en) | Lever machine | |
| CN104314738B (en) | Ocean wave generator | |
| KR101630730B1 (en) | Generating system | |
| CN107962588A (en) | A kind of arm structure of robot | |
| CN109386705A (en) | A kind of horizontal holder of remote control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161005 Effective date of abandoning: 20171020 |
|
| AV01 | Patent right actively abandoned |