CN206544178U - A kind of new rope driver tool arm - Google Patents
A kind of new rope driver tool arm Download PDFInfo
- Publication number
- CN206544178U CN206544178U CN201720205057.4U CN201720205057U CN206544178U CN 206544178 U CN206544178 U CN 206544178U CN 201720205057 U CN201720205057 U CN 201720205057U CN 206544178 U CN206544178 U CN 206544178U
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- pulley group
- follow
- connecting rod
- pair
- pulley
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Abstract
The utility model is related to a kind of new rope driver tool arm, including pedestal, a pair of links, second pair of connecting rod, third connecting rod, driving pulley group, the first follow-up pulley group, the second follow-up pulley group, the first rope, the second rope, the 3rd rope；Pedestal both sides are arranged with support arm, and support arm is provided with connecting hole；A pair of links head and end is provided with tie rod holes, the tie rod holes of a pair of links head end are connected bearing through the driving pulley group with base supports arm connecting hole and linked together, and the tie rod holes of first pair of connecting rod end are connected bearing through the first follow-up pulley group with the connecting hole of second pair of connecting rod head end and linked together；The tie rod holes of second pair of connecting rod end are connected bearing through the second follow-up pulley group with the tie rod holes of the third connecting rod head end and linked together.The utility model realizes the rope drive of joint of mechanical arm by connecting rod, pulley, reduces the weight and rotary inertia of mechanical arm, improves the payload of manipulator.
Description
Technical field
The utility model is related to a kind of new rope driver tool arm, belongs to machinery manufacturing technology field.
Background technology
General mechanical arm transmits the moment of torsion of motor by The gear deceleration structure, in order to complete joint motions, motor
Installation can not be too remote away from performs device, otherwise need enormous amount or enormous size drive mechanism, be unfavorable for transmission it is steady
Qualitative and mechanism is compact, therefore typically motor is directly installed on inside the joint of mechanical arm, to facilitate articulation.
But because motor is directly installed on the joint of mechanical arm, bottom motor in order to overcome the weight of upper strata motor and drive mechanism,
The power of motor must be increased, while strengthening the intensity of dependency structure.And such structure is when completing the transmission of remote power,
The weight and rotary inertia of mechanical arm are inevitably considerably increased, the payload of manipulator is reduced.
In recent years, due to the limitation of general kind of drive own characteristic, new-type rope actuation techniques are by increasing
The attention of researcher.In fact, rope actuation techniques have fully achieved the form of Contact Transmission.Can be with using rope drive
The weight of joint of mechanical arm is greatly lowered.In current precision drive, rope drive mechanism has relative to other type of belt drive
Stable drive, without lubricated maintenance and low cost and other advantages.
Utility model content
General mechanical arm, due to its limitation, the need for some specific occasions can not meet modern industry,
Therefore increasing scholar has turned to sight on the mechanical arm of Flexible Transmission.Therefore, the utility model purpose is to provide
A kind of new rope driver tool arm, using flexibility to realize the production and processing of large span, the operation such as carries.
The technical scheme that the utility model solves above-mentioned technical problem is as follows：A kind of new rope driver tool arm, including
Pedestal, a pair of links, second pair of connecting rod, third connecting rod, driving pulley group, the first follow-up pulley group, the second follow-up pulley group,
First rope, the second rope, the 3rd rope；The pedestal is rectangle, and pedestal both sides are arranged with support arm, support arm and set
There is connecting hole；Described a pair of links head and end is provided with tie rod holes, the tie rod holes and base supports of a pair of links head end
Arm connecting hole through the driving pulley group connection bearing link together, the tie rod holes of first pair of connecting rod end with described second pair
The connecting hole of connecting rod head end links together through the first follow-up pulley group connection bearing；Second pair of described connecting rod end
Tie rod holes are connected bearing through the second follow-up pulley group with the tie rod holes of the third connecting rod head end and linked together；Described
Second pair of described connecting rod of third connecting rod connection；The driving pulley group is arranged between a pair of links head end, actively
Assembly pulley includes the pulley of left, center, right 3；The first described follow-up pulley group is arranged between second pair of connecting rod head end, the
One follow-up pulley group includes left and right 2 pulleys；The second described follow-up pulley group is arranged between the third connecting rod head end,
Second follow-up pulley group includes 1 middle pulley；The first described rope is connected to described driving pulley group and the first driven cunning
Between the left side pulley of wheel group；The second described rope is connected to the right side of described driving pulley group and the first follow-up pulley group
Between pulley；The 3rd described rope is connected on the left of the first described follow-up pulley group in pulley and the second follow-up pulley group
Between pulley.
A kind of new rope driver tool arm as described above, the pedestal is provided with fixing hole, and the fixing hole is symmetrical
It is distributed in the base supports arm both sides.
A kind of new rope driver tool arm as described above, the pedestal is circular, ellipse, the support arm upper end
For semicircle.
A kind of new rope driver tool arm as described above, the 3rd rope is connected to the first described follow-up pulley
Between group right side pulley and the middle pulley of the second follow-up pulley group.
Set between a kind of new rope driver tool arm as described above, described 3 pulleys in driving pulley group left, center, right
Have and distance piece is provided between distance piece, left and right 2 pulleys of the first follow-up pulley group.
The first driving of pulley connection electricity on the left of a kind of new rope driver tool arm as described above, the driving pulley group
Pulley connects the second motor on the right side of machine, driving pulley group.
A kind of new rope driver tool arm as described above, the third connecting rod end is bent downwardly 10-45 degree angle, the
Three connecting rod head ends are provided with U-type groove, and U-type groove both sides are provided with tie rod holes, and third connecting rod is connected by U-type groove with second pair of connecting rod.
The beneficial effects of the utility model are：The rope drive of joint of mechanical arm is realized by connecting rod, pulley, machinery is reduced
The weight and rotary inertia of arm, improve the payload of manipulator, so as to realize the production and processing of large span, carrying etc. is made
Industry.
Brief description of the drawings
Fig. 1 is a kind of new rope driver tool arm configuration schematic diagram.
Embodiment
Principle of the present utility model and feature are described below in conjunction with accompanying drawing, example is served only for explaining this practicality
It is new, it is not intended to limit scope of the present utility model.
As shown in figure 1, the utility model provides a kind of new rope driver tool arm, including pedestal 1, a pair of links 2,
Second pair of connecting rod 3, third connecting rod 4, driving pulley group 5, the first follow-up pulley group 6, the second follow-up pulley group 7, the first rope 8,
Second rope 9, the 3rd rope 10；The pedestal 1 is rectangle, and the both sides of pedestal 1 are arranged with support arm 11, support arm 11 and set
There is connecting hole 12；The described head and end of a pair of links 2 is provided with tie rod holes, the tie rod holes and pedestal of the head end of a pair of links 2
The connecting hole of support arm 11 links together through the driving pulley group 5 connection bearing, the tie rod holes of the end of a pair of links 2 and institute
The connecting hole for stating second pair of head end of connecting rod 3 links together through the first follow-up pulley group 6 connection bearing；Described the second couple
The tie rod holes of the end of connecting rod 3 are connected bearing through the second follow-up pulley group 7 with the tie rod holes of the head end of third connecting rod 4 and connected
Together；Described third connecting rod 4 connects second pair of described connecting rod 3；The driving pulley group 5 is arranged on first pair of company
Between the head end of bar 2, driving pulley group 5 includes the pulley of left, center, right 3；The first described follow-up pulley group 6 is arranged on described
Between two pairs of head ends of connecting rod 3, the first follow-up pulley group 6 includes left and right 2 pulleys；The second described follow-up pulley group 7 is arranged on
Between the head end of third connecting rod 4, the second follow-up pulley group 7 includes 1 middle pulley；The first described rope 8 is connected to described
The follow-up pulley group 6 of driving pulley group 5 and first left side pulley between；The second described rope 9 is connected to described active
Between the right side pulley of the follow-up pulley group 6 of assembly pulley 5 and first；The 3rd described rope 10 is connected to the first described driven cunning
Between the left side pulley of wheel group 6 and the middle pulley of the second follow-up pulley group 7.
In new rope driver tool arm one embodiment, the pedestal 1 is provided with fixing hole 13,13 pairs of the fixing hole
Title is distributed in the both sides of base supports arm 11.
In new rope driver tool arm one embodiment, the pedestal 1 is on circular, ellipse, the support arm 11
Hold as semicircle.
In new rope driver tool arm one embodiment, the 3rd rope 10 is connected to the first described follow-up pulley
Between 6 right side pulleys of group and the middle pulley of the second follow-up pulley group 7.
In new rope driver tool arm one embodiment, it is provided between the pulley of driving pulley group 5 left, center, right 3
Distance piece is provided between distance piece, left and right 2 pulleys of the first follow-up pulley group 6.
In new rope driver tool arm one embodiment, left side pulley connection the first driving electricity of driving pulley group 5
Machine, the right side pulley of driving pulley group 5 connects the second motor.
In new rope driver tool arm one embodiment, the third connecting rod end is bent downwardly 10-45 degree angle, the 3rd
Connecting rod head end is provided with U-type groove, and U-type groove both sides are provided with tie rod holes, and third connecting rod is connected by U-type groove with second pair of connecting rod.
The left side pulley of driving pulley group 5 is connected into the first motor, the right side of driving pulley group 5 when the utility model is used
Pulley connects the second motor, further by controlling the rotation of motor to drive the motion of the pulley of driving pulley group 5,
By controlling the motion of the pulley of driving pulley group 5, first pair is controlled using the first rope 8, the second rope 9, the 3rd rope 10
Connecting rod 2, second pair of connecting rod 3, third connecting rod 4 are moved, so as to drive the motion of whole mechanical arm, control the appearance of whole mechanical arm
State.
Preferred embodiment of the present utility model is the foregoing is only, it is all in this practicality not to limit the utility model
Within new spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in guarantor of the present utility model
Within the scope of shield.
Claims (7)
1. a kind of new rope driver tool arm, it is characterised in that：Connect including pedestal, a pair of links, second couple of connecting rod, 3rd
Bar, driving pulley group, the first follow-up pulley group, the second follow-up pulley group, the first rope, the second rope, the 3rd rope；The base
Seat is rectangle, and pedestal both sides are arranged with support arm, and support arm is provided with connecting hole；Described a pair of links head and end
Provided with tie rod holes, the tie rod holes of a pair of links head end are connected bearing through the driving pulley group with base supports arm connecting hole and connected
It is connected together, the connecting hole of the tie rod holes of first pair of connecting rod end and second pair of connecting rod head end is through first follow-up pulley
Group connection bearing links together；The tie rod holes of second pair of described connecting rod end and the tie rod holes of the third connecting rod head end are passed through
The second follow-up pulley group connection bearing links together；Second pair of described connecting rod of described third connecting rod connection；It is described
Driving pulley group is arranged between a pair of links head end, and driving pulley group includes the pulley of left, center, right 3；Described
One follow-up pulley group is arranged between second pair of connecting rod head end, and the first follow-up pulley group includes left and right 2 pulleys；It is described
The second follow-up pulley group be arranged between the third connecting rod head end, the second follow-up pulley group includes 1 middle pulley；Described
First rope is connected between described driving pulley group and the left side pulley of the first follow-up pulley group；The second described rope connects
It is connected between described driving pulley group and the right side pulley of the first follow-up pulley group；The 3rd described rope is connected to described
On the left of first follow-up pulley group between pulley and the middle pulley of the second follow-up pulley group.
2. a kind of new rope driver tool arm according to claim 1, it is characterised in that：The pedestal is provided with fixation
Hole, the fixing hole is symmetrically distributed in the base supports arm both sides.
3. a kind of new rope driver tool arm according to claim 1 or 2, it is characterised in that：The pedestal for it is circular,
Ellipse, the support arm upper end is semicircle.
4. a kind of new rope driver tool arm according to claim 1, it is characterised in that：3rd rope is connected to
On the right side of the first described follow-up pulley group between pulley and the middle pulley of the second follow-up pulley group.
5. a kind of new rope driver tool arm according to claim 1, it is characterised in that：The driving pulley group left side,
In, be provided between right 3 pulleys between distance piece, left and right 2 pulleys of the first follow-up pulley group and be provided with distance piece.
6. a kind of new rope driver tool arm according to claim 1, it is characterised in that：On the left of the driving pulley group
Pulley connects pulley on the right side of the first motor, driving pulley group and connects the second motor.
7. a kind of new rope driver tool arm according to claim 1, it is characterised in that：The third connecting rod end to
Lower bending 10-45 degree angle, third connecting rod head end be provided with U-type groove, U-type groove both sides be provided with tie rod holes, third connecting rod by U-type groove with
Second pair of connecting rod connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720205057.4U CN206544178U (en) | 2017-03-05 | 2017-03-05 | A kind of new rope driver tool arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720205057.4U CN206544178U (en) | 2017-03-05 | 2017-03-05 | A kind of new rope driver tool arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206544178U true CN206544178U (en) | 2017-10-10 |
Family
ID=59995970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720205057.4U Expired - Fee Related CN206544178U (en) | 2017-03-05 | 2017-03-05 | A kind of new rope driver tool arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206544178U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352639A (en) * | 2018-10-08 | 2019-02-19 | 南京航空航天大学 | A kind of underwater rope driving mechanical arm system that Autonomous Underwater vehicle carries |
| CN109927021A (en) * | 2017-12-19 | 2019-06-25 | 广州中国科学院先进技术研究所 | A kind of bionical humanoid mechanical arm of 7 freedom degrees |
| CN114851239A (en) * | 2022-03-04 | 2022-08-05 | 深圳鹏行智能研究有限公司 | Head end joint, middle joint, bendable mechanical part and robot of line drive machine |
-
2017
- 2017-03-05 CN CN201720205057.4U patent/CN206544178U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927021A (en) * | 2017-12-19 | 2019-06-25 | 广州中国科学院先进技术研究所 | A kind of bionical humanoid mechanical arm of 7 freedom degrees |
| CN109352639A (en) * | 2018-10-08 | 2019-02-19 | 南京航空航天大学 | A kind of underwater rope driving mechanical arm system that Autonomous Underwater vehicle carries |
| CN114851239A (en) * | 2022-03-04 | 2022-08-05 | 深圳鹏行智能研究有限公司 | Head end joint, middle joint, bendable mechanical part and robot of line drive machine |
| CN114851239B (en) * | 2022-03-04 | 2024-03-12 | 深圳鹏行智能研究有限公司 | Front end joint, middle joint, bendable mechanical part of line drive machine and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171010 Termination date: 20190305 |