CN216830886U - Wire drawing disc for wire transmission, wire transmission mechanism and wire driving mechanical arm - Google Patents

Abstract

The utility model relates to an arm field, concretely relates to anchor for line drive, the both sides of anchor arc surface all are provided with the wire casing, and the plane of anchor both sides is served and all is provided with end of a thread fixed orifices, arrangement groove and cross the line mouth, and the line mouth of crossing of anchor both sides is 180 distributions. The two ends of the transmission line are respectively and fixedly arranged on the line head fixing holes at the same side of the two wire drawing discs, and the middle part of the transmission line is wound on the middle wheel. Still relate to a line drive arm. The utility model discloses a motion transmission of two directions can be accomplished in setting up of anchor, and the arm includes two line drive mechanism, can alleviate the internal loss when the arm moves, and simultaneously, the arm has five freely movable joints, can carry out the every single move of whole rotation and three digging arm and the every single move action of executive component, makes the arm bigger at during operation motion range, and shared space is littleer during initial state.

Description

Wire drawing disc for wire transmission, wire transmission mechanism and wire driving mechanical arm

Technical Field

The utility model relates to an arm field, concretely relates to anchor plate, line drive mechanism and line drive arm for line transmission.

Background

Traditional arm is designed for two arms more, big arm and forearm promptly, and joint drive generally is direct drive, conventional gear drive, belt drive, and driving motor and gear reducer all install in arm joint department or through the transmission installation on big arm forearm in these modes, and the especially outstanding shortcoming is: for a multi-joint mechanical arm, a motor, a gear reducer and other transmission devices of a next-stage joint become the load of a previous-stage joint, and the integral internal consumption of the mechanical arm is increased. Rope drive is as a neotype transmission mode, can reduce the internal load of arm, but the winding steel wire can only rotate when taut steel wire at the anchor plate on the anchor plate, just can the transmission motion, can only transmit the motion under the taut steel wire state usually, when lax steel wire, the execution end can only rely on gravity and carry out the motion in the opposite direction, and the steel wire also can only bear the pulling force, there is elastic deformation's the condition, can lead to the lax phenomenon to appear in the driving process, make terminal control precision not high, cause wire rope to drop even, influence the transmission of motion and power. However, the existing mechanical arm mechanism driven by the steel wire rope has the problems that the execution precision of the tail end of the mechanical arm is not easy to control due to the change of the effective length of the steel wire rope and even the looseness of the steel wire rope, and the tensioning force of the steel wire rope cannot be well controlled due to the fact that the tensioning force adjusting device is installed at the tail end of the steel wire rope.

Disclosure of Invention

The utility model discloses a solve among the rope actuating mechanism problem that an orientation transmission motion can only be followed to the anchor, provide an anchor for the line drive, can set up two transmission lines on the anchor, make two anchors drive end and execution end as the motion among the line actuating mechanism, can accomplish the motion transmission of two orientations, can realize driving the execution end promptly and carry out the luffing motion, the usable turned angle of anchor is the biggest during rotation, and the degree of freedom scope is bigger.

The utility model discloses a solve the problem that rope driven motion transmission efficiency is low, provide a line drive mechanism, promoted the transmission efficiency and the transmission precision of motion through line drive mechanism, make and carry out terminal degree of freedom scope bigger.

The utility model discloses a solve the big problem of many joints arm internal loss, provide a line drive arm, the arm has five freely movable joints, three digging arm, can carry out the every single move action of whole rotation and the every single move of three digging arm and executive component, makes the arm bigger at the during operation radius of motion, and shared space is littleer during initial state.

In order to realize the purpose, the technical scheme of the utility model is that:

the utility model provides an anchor for line drive, the anchor includes the arc surface and is located the plane end of arc surface both sides, and the both sides of anchor arc surface all are provided with the wire casing, all are provided with end of a thread fixed orifices, arrangement groove and cross the line mouth on the plane end of anchor both sides, the end of a thread fixed orifices is used for the tip of fixed transmission line, cross the line mouth and be linked together with the wire casing, arrangement groove intercommunication end of a thread fixed orifices and cross the line mouth, the line mouth of crossing of anchor both sides is 180 distributions.

In a further preferred scheme, the middle of the anchor plate is provided with an axial installation through hole, and the anchor plate is also provided with a fan-shaped through hole and an annular groove.

The utility model provides a line drive mechanism, includes driving shaft, jackshaft, driven shaft, two transmission lines and the anchor plate, the axis of driving shaft, jackshaft and driven shaft parallels, all fixedly on driving shaft and the driven shaft being provided with the anchor plate, be provided with the intermediate wheel on the jackshaft, the both ends of transmission line are fixed respectively and are set up on the end of a thread fixed orifices of two anchor plates, and the tip of transmission line passes the line mouth, through the winding of wire casing on the anchor plate, the middle part winding of transmission line the intermediate wheel, two transmission lines are different at two anchor plates and the winding direction on the intermediate wheel.

In a further preferred version, the diameter of the intermediate wheel is smaller than the diameter of the anchor disc.

In a further preferred scheme, the transmission line comprises two transmission line sections, a tensioning structure is arranged between the two transmission line sections, the tensioning structure comprises an orthodontic stud, a counter-dental stud and a sleeve, the orthodontic stud and the counter-dental stud are respectively and fixedly connected with one transmission line section, and two ends of the sleeve are respectively in threaded sleeve connection with the orthodontic stud and the counter-dental stud.

A wire-driven mechanical arm comprises a base fixing plate, a first motor, a rotary base, a large arm framework, a small arm framework, a three-arm framework, an execution part, a second motor, a third motor, a fourth motor, a fifth motor and two wire transmission mechanisms, wherein the two wire transmission mechanisms are a fourth wire transmission mechanism and a fifth wire transmission mechanism respectively; the first motor and the rotating base are arranged on the base fixing plate and are in transmission connection, the large arm framework is rotatably arranged on the rotating base, the small arm framework is rotatably arranged on the large arm framework, the three-arm framework is rotatably arranged on the small arm framework, and the executing part is rotatably arranged on the three-arm framework; the second motor, the third motor, the fourth motor and the fifth motor are all arranged on the large arm framework, the second motor drives the large arm framework to rotate around the rotating base, the third motor is in transmission connection with the small arm framework, the fourth motor drives the three arm framework to rotate through the fourth wire transmission mechanism, and the fifth motor drives the executing component to rotate through the fifth wire transmission mechanism.

In a further preferred scheme, a hollow shaft is rotatably arranged on the base fixing plate, the end part of the hollow shaft is fixedly provided with the rotating base, a first large belt wheel is fixedly arranged in the middle of the hollow shaft, a first small belt wheel is arranged on an output shaft of the first motor, the first small belt wheel is in transmission connection with the first large belt wheel through a transmission belt, and a tensioning block is further arranged on the base fixing plate and is positioned between the first small belt wheel and the first large belt wheel.

In a further preferred scheme, the second motor is arranged in the middle of the large arm framework, the output end of the second motor is provided with a second small belt wheel, the large arm framework is fixedly provided with a second large belt wheel, the second large belt wheel is positioned on the rotating center of the large arm framework and the rotating base, and the second large belt wheel and the second small belt wheel are provided with synchronous belts.

In a further preferred scheme, still be provided with the tensioning adjusting part on the big arm skeleton, the tensioning adjusting part includes fixed block, regulation double-screw bolt, the fixed block is located one side of second motor, regulation double-screw bolt and fixed block threaded connection, regulation double-screw bolt pass the fixed block and support to the second motor.

In a further preferred scheme, the third motor is located on the rotation centers of the small arm framework and the large arm framework, and an output shaft of the third motor is fixedly connected with the small arm framework.

In a further preferred scheme, the fourth motor is located on the rotation centers of the large arm framework and the rotary base, the driving shaft of the fourth transmission mechanism is arranged on the output end of the fourth motor, the intermediate shaft of the fourth transmission mechanism is arranged on the rotation centers of the small arm framework and the large arm framework, the driven shaft of the fourth transmission mechanism is fixedly arranged on the three-arm framework, and the driven shaft of the fourth transmission mechanism is located on the rotation centers of the three-arm framework and the small arm framework.

In a further preferred scheme, the fifth motor is located on the rotation centers of the small arm framework and the large arm framework, the driving shaft of the fifth linear transmission mechanism is arranged on the output end of the fifth motor, the middle shaft of the fifth linear transmission mechanism is located on the rotation centers of the three arm framework and the small arm framework, the driven shaft of the fifth linear transmission mechanism is rotatably arranged at the tail end of the three arm framework, and the driven shaft is fixedly connected with the execution part.

Through the technical scheme, the beneficial effects of the utility model are that:

1. the utility model discloses an anchor both sides all can fix the transmission line to it is spacing to form the winding of transmission line through the wire casing, prevent that two transmission lines from taking place to interfere, the mouth of crossing of anchor both sides is 180 distributions, make two transmission lines stretch out from different sides after the anchor winding respectively, and stretch out the point on same warp thread, make drive end and execution end as the motion among two anchor on-line drive mechanism, can accomplish two opposite direction's motion transmission, can realize promptly driving the execution end and carry out the luffing motion.

2. The utility model discloses an all be provided with the anchor on line drive mechanism's the driving shaft and the driven shaft, the last anchor of driving shaft is the drive end of motion, the anchor on the driven shaft is the execution end of motion, through the anchor that rotates the drive end towards the positive direction, under the effect of one of them transmission line, the anchor that can drive the execution end realizes the motion of pitching, through the anchor that rotates the drive end towards the opposite direction, under the effect of another transmission line, the anchor that can drive the execution end realizes the motion of bowing. And the wire passing ports on the two sides of the wire drawing disc are distributed in 180 degrees, so that the winding arrangement direction and the formed path formed in the wire transmission mechanisms of the two transmission wires are different, the available rotation angle of the wire drawing disc is the largest when the wire drawing disc is rotated for transmission, and the rotation freedom degree range of the tail end execution end of the wire transmission mechanism is larger.

3. The utility model discloses a line drive mechanism is provided with the intermediate wheel, and the transmission line middle part twines on the intermediate wheel, increases the transmission line with the frictional resistance of intermediate wheel, avoids the friction between two transmission lines to take place to interfere and influence the life of transmission line. The utility model discloses a line drive mechanism is a transmission elementary unit, can superpose a plurality of line drive mechanisms according to actual demand, and forms multistage line drive process to satisfy application range and radius of motion.

4. The utility model discloses a line drive mechanism can carry out high-efficient transmission to the motion in two directions, is provided with straining device on the transmission line, can conveniently adjust the transmission line tensile force through adjusting just, the distance between the anti-tooth double-screw bolt, and simple structure has improved the terminal execution precision of wire rope transmission arm.

5. The utility model discloses an arm has big arm skeleton, forearm skeleton and three digging arms of three skeleton formation, has five freely movable joints, can carry out the every single move of whole rotation and three digging arm and the every single move action of executive component, makes the arm bigger at during operation motion range, and shared space is littleer during initial state.

6. The utility model discloses a five motors set up respectively on base fixed plate and big arm skeleton, the second motor passes through belt drive mechanism drive big arm skeleton every single move, third motor direct drive forearm skeleton every single move, and adopt two transmission line mechanisms to carry out the two-stage drive, one-level line drive mechanism drive three arm skeleton every single move, one-level line drive mechanism drive executive component every single move, drive power with the distal end through the transmission line reaches the end, the effectual motion range of arm has been guaranteed, the mode that belt drive and line drive combined together, internal loss when having alleviateed the arm motion. In addition, the diameter of the middle wheel of the wire transmission mechanism is smaller than that of the wire drawing disc, so that the coupling ratio of joints of the mechanical arm in motion is reduced, and the adverse effect caused by motion coupling is reduced.

Drawings

Fig. 1 is one of the schematic structural diagrams of a wire-driven mechanical arm according to the present invention;

fig. 2 is a second schematic structural view of a wire-driven robot arm according to the present invention;

fig. 3 is a third schematic structural view of a wire-driven mechanical arm according to the present invention;

fig. 4 is a fourth schematic structural view of a wire-driven mechanical arm of the present invention;

fig. 5 is a schematic view of the initial state of the wire-driven mechanical arm of the present invention;

fig. 6 is one of the schematic structural states of the anchor plate of the present invention;

fig. 7 is a second schematic view of the structure of the anchor according to the present invention;

FIG. 8 is a schematic view of the tensioning structure and drive line of the present invention;

FIG. 9 is a schematic drawing of the first drive line with (a) the drive line on the right and (b) the drive line on the left;

fig. 10 is a schematic drawing of the pull wire for the second drive wire, with (a) the drive wire on the left and (b) the drive wire on the right.

The reference numbers in the drawings are as follows: 1 is a base fixing plate, 2 is a first motor mounting flange, 3 is a large belt wheel I, 4 is a tensioning block, 5 is a first motor, 6 is a hollow shaft, 7 is a small belt wheel I, 8 is a rotary base, 9 is a large belt wheel II, 10 is a large arm framework, 11 is a tensioning adjusting component, 12 is a second motor, 13 is a small belt wheel II, 14 is a fourth motor, 15 is a fourth driving shaft, 16 is a wire drawing disc I, 17 is a fifth motor, 18 is a fifth driving shaft, 19 is a wire drawing disc III, 20 is a third motor, 21 is a third motor connecting shaft, 22 is a fourth intermediate shaft, 23 is a fourth intermediate wheel, 24 is a small arm framework, 25 is a three arm framework, 26 is a fourth driven shaft, 27 is a fifth intermediate wheel, 28 is a wire drawing disc II, 29 is a fifth driven shaft, 30 is a wire drawing disc IV, 31 is a connecting sleeve, 32 is a suction nozzle, 201 is a wire end fixing hole, 202 is a wire passing hole, and 203 is a wire groove, 40 is a tension structure, 401 is an orthodontic stud, 402 is a counter-dental stud and 403 is a sleeve.

Detailed Description

The invention will be further explained with reference to the drawings and the detailed description below:

in the description of the present invention, it should be understood that the terms "upper", "lower", "horizontal", "vertical", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in fig. 1, and the side where the second motor and the fifth motor are located is the right side, which is only for the convenience of description of the present invention and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 6 and 7, the present embodiment provides an anchor for wire transmission, where the anchor is in a disc-shaped structure, the anchor includes an arc surface and planar ends located at two sides of the arc surface, two sides of the arc surface of the anchor are both provided with wire slots 203, and a transmission wire is wound in the wire slots 203; the flat face of anchor both sides is served and all is provided with end of a thread fixed orifices 201, arrangement groove and crosses line mouth 202, end of a thread fixed orifices 201 is used for the tip of fixed drive line, it is linked together with wire casing 203 to cross line mouth 202, the arrangement groove intercommunication end of a thread fixed orifices 201 with cross line mouth 202, the tip of drive line is in end of a thread fixed orifices 201, and then the drive line is through arrangement groove and crossing line mouth 202 winding in wire casing 203. The both sides of anchor all can fixed the setting and twine the transmission line, make an anchor can cooperate with two transmission lines, the line mouth 202 of crossing of anchor both sides is 180 distributions, make two transmission lines can stretch out from the homonymy after the anchor winding respectively, and stretch out the point on same warp thread, make two anchor drive the end and the execution end as the motion in the online drive mechanism, can accomplish the motion transmission of two directions, can realize driving the execution end promptly and carry out the luffing motion.

As mentioned above, the middle part of the anchor is provided with an axial installation through hole so as to facilitate the use and fixation of the anchor. In order to reduce the self weight of the wire drawing disc, two fan-shaped through holes are further formed in the plane end of the wire drawing disc, an annular groove is formed in the arc surface of the wire drawing disc, and the annular groove is located between the two wire grooves 203.

As shown in fig. 1 to 5, the present embodiment further provides a wire drive mechanism and a wire driven mechanical arm. A wire-driven mechanical arm comprises a base fixing plate 1, a first motor 5, a rotary base 8, a large arm framework 10, a small arm framework 24, a three-arm framework 25, an executing component, a second motor 12, a third motor 20, a fourth motor 14, a fifth motor 17 and two wire transmission mechanisms, wherein the two wire transmission mechanisms are respectively called as a fourth wire transmission mechanism and a fifth wire transmission mechanism for convenience of identification and distinguishing.

Be provided with on base fixed plate 1 first motor 5 and rotating base 8, first motor 5 is connected with rotating base 8 transmission, drives rotating base 8 through first motor 5 and rotates, and rotating base 8's degree of freedom is 180. The rotating base 8 is rotatably provided with the large arm framework 10, a rotating central axis A is formed between the large arm framework 10 and the rotating base 8, and the large arm framework 10 can rotate in a pitching mode by taking the central axis A as a center; a small arm framework 24 is rotatably arranged on the large arm framework 10, a rotation central axis formed between the small arm framework 24 and the large arm framework 10 is B, and the small arm framework 24 can rotate in a pitching mode by taking the central axis B as a center; the three-arm framework 25 is rotatably arranged on the small-arm framework 2, a rotation central axis formed between the three-arm framework 25 and the small-arm framework 24 is C, and the three-arm framework 25 can rotate in a pitching mode by taking the central axis C as a center; an actuating component is rotatably arranged on the three-arm framework 28, a rotation central axis formed between the actuating component and the three-arm framework 28 is D, and the actuating component can rotate in a pitching mode by taking the central axis D as a center.

As described above, the first motor 5 is fixedly arranged on the base fixing plate 1 through the first motor mounting flange 2, the base fixing plate 1 is provided with the hollow shaft 6 in a rotating manner, the end part of the hollow shaft 6 is fixedly arranged on the rotating base 8, the middle part of the hollow shaft 6 is fixedly provided with the large belt wheel 3, the output shaft of the first motor 5 is provided with the small belt wheel 7, the small belt wheel 7 is connected with the large belt wheel 3 through transmission of a transmission belt, the base fixing plate 1 is further provided with the tensioning block 4, the tensioning block 4 is positioned between the small belt wheel 7 and the large belt wheel 3, specifically, the tensioning block 4 is positioned on a common tangent line of the small belt wheel 7 and the large belt wheel 3, and the tensioning block 4 is used for tensioning the transmission belt on the small belt wheel 7 and the large belt wheel 3. The rotating base 8 is driven to rotate by the driving of the first motor 5, and then the mechanical arm is driven to rotate on the horizontal plane.

Second motor 12 sets up in the middle part of big arm skeleton 10, and second motor 12 drives big arm skeleton 10 through belt drive mechanism and rotates around rotating base 8, belt drive mechanism is including fixed two 13, the fixed big band pulley two 9 that set up on big arm skeleton 10 and the hold-in range of setting on little band pulley two 13 and big band pulley two 9 of setting on second motor 12 output, big band pulley two 9 is located big arm skeleton 10 and rotating base 8's rotation center. Still be provided with tensioning adjusting part 11 on the forearm skeleton 10, tensioning adjusting part 11 includes fixed block, adjusting stud, the fixed block is located one side of second motor 12, adjusting stud and fixed block threaded connection, adjusting stud pass the fixed block and support to second motor 12, finely tune the position of second motor 12 through rotating adjusting stud, and then adjust the rate of tension of hold-in range. The second motor 12 drives the large arm framework 10 to perform pitching motion with the central axis a as the center, and the degree of freedom is +/-90 degrees.

The third motor 20 is fixedly arranged at the upper end of the large arm framework 10, the third motor 20 is positioned on a rotation central axis B of the small arm framework 24 and the large arm framework 10, the output end of the third motor 20 is fixedly connected with the small arm framework 24 through a third motor connecting shaft 21, the third motor 20 directly drives the small arm framework 24 to do pitching motion by taking the central axis B as the center, and the degree of freedom is +/-90 degrees.

The fourth motor 14 is arranged at the lower end of the large-arm framework 10, the fourth motor 14 is located on a rotation central axis A of the large-arm framework 10 and the rotary base 8, the fourth motor 14 drives the three-arm framework 25 to rotate through a fourth wire transmission mechanism, specifically, the fourth wire transmission mechanism comprises a fourth driving shaft 15, a fourth intermediate shaft 22, a fourth driven shaft 26, two driving wires and a first wire drawing disc 16, a second wire drawing disc 28 and a fourth intermediate wheel 23, the fourth driving shaft 15 is arranged at the output end of the fourth motor 14, the fourth intermediate shaft 22 is arranged on the small-arm framework 24 and is located on a rotation central axis B of the small-arm framework 24 and the large-arm framework 10, the fourth driven shaft 26 is fixedly arranged on the three-arm framework 25, and the fourth driven shaft 26 is located on a rotation central axis C of the three-arm framework 25 and the small-arm framework 24; the fourth driving shaft 15 and the fourth driven shaft 26 are respectively fixedly provided with a first anchor plate 16 and a second anchor plate 28, the fourth intermediate shaft 22 is provided with a fourth intermediate wheel 23, transmission lines are arranged on the string head fixing holes 201 on two sides of the first anchor plate 16, the two transmission lines extend out from the first anchor plate 16 and are connected with the second anchor plate 28 after being wound around the fourth intermediate wheel 23 for two circles, and the winding directions of the two transmission lines formed on the first anchor plate 16, the fourth intermediate wheel 23 and the second anchor plate 28 are different, as shown in fig. 9. The fourth motor 14 is started to rotate, the first wire drawing disc 16 is driven to rotate, the transmission wire is driven to be tensioned, and therefore the second wire drawing disc 28 is driven to rotate, namely the three-arm framework 25 is driven to rotate. The transmission line is tensioned through the fourth motor 14, the motion is transmitted to the tail end of the transmission line, namely the three-arm framework 25, the three-arm framework 25 is driven to do pitching motion, and the degree of freedom is-90 degrees to +60 degrees. More specifically, as shown in fig. 9, clockwise and counterclockwise are based on the directions shown in fig. 9, when the fourth motor 14 drives the first wire drawing disc 16 to rotate clockwise, the lower end of the left transmission wire is wound on the first wire drawing disc 16 and is pulled, so as to drive the second wire drawing disc 28 at the upper end to rotate clockwise; when the fourth motor 14 drives the first wire drawing disc 16 to rotate anticlockwise, the lower end of the right transmission wire is wound on the first wire drawing disc 16 and is pulled, and the second wire drawing disc 28 at the upper end is driven to rotate anticlockwise.

The fifth motor 17 is arranged at the upper end of the large arm framework 10, the fifth motor 17 is arranged on a rotation central axis B of the small arm framework 24 and the large arm framework 10, the fifth motor 17 is arranged at the opposite side of the third motor 20, the fifth motor 17 drives the execution part to rotate through a fifth line transmission mechanism, concretely, the fifth line transmission mechanism comprises a fifth driving shaft 18, a fifth intermediate shaft, a fifth driven shaft 29, two transmission lines, a third wire drawing disc 19, a fourth wire drawing disc 30 and a fifth intermediate wheel 27, the fifth driving shaft 18 is arranged at the output end of the fifth motor 17, the fifth intermediate shaft is arranged on the three arm framework 25 and is arranged on a rotation central axis C of the three arm framework 25 and the small arm framework 24, the fifth intermediate shaft and the fourth driven shaft 26 are of an integral structure, the fifth driven shaft 29 is rotatably arranged at the tail end of the three arm framework 25 and is arranged on a rotation central axis D between the execution part and the three arm framework 28, a connecting sleeve 31 is fixedly connected to the end part of the fifth driven shaft 29, and the connecting sleeve 31 is fixedly connected with the executing component through the three-arm suspension 28; the third anchor plate 19 and the fourth anchor plate 30 are fixedly arranged on the fifth driving shaft 18 and the fifth driven shaft 29 respectively, the fifth intermediate shaft is provided with the fifth intermediate wheel 27, transmission lines are arranged on the string head fixing holes 201 on the two sides of the third anchor plate 19, the two transmission lines extend out from the third anchor plate 19 and are connected with the fourth anchor plate 30 after being wound on the fifth intermediate wheel 27 for two circles, and the winding directions of the two transmission lines formed on the third anchor plate 19, the fifth intermediate wheel 27 and the fourth anchor plate 30 are different as shown in fig. 10. The fifth motor 17 is started to rotate, drives the third wire drawing disc 19 to rotate, drives the transmission wire to be tensioned, thereby driving the fourth wire drawing disc 30 to rotate, namely driving the fifth driven shaft 29 to rotate, and then driving the execution part to rotate. The fifth motor 17 transmits the motion to the tail end of the transmission line, namely the execution part, by tensioning the transmission line, and drives the execution part to do pitching motion, wherein the degree of freedom is +/-75 degrees. More specifically, as shown in fig. 10, clockwise and counterclockwise are based on the directions shown in fig. 10, and when the fifth motor 17 drives the third wire drawing disc 19 to rotate clockwise, the lower end of the right transmission wire is wound on the third wire drawing disc 19 and is pulled, so as to drive the fourth wire drawing disc 30 at the upper end to rotate clockwise; when the fifth motor 17 drives the third wire drawing disc 19 to rotate anticlockwise, the lower end of the left transmission wire is wound on the third wire drawing disc 19 to be drawn, and the fourth wire drawing disc 30 at the upper end is driven to rotate anticlockwise.

As shown in fig. 8, in order to facilitate tensioning adjustment of the wire transmission mechanism, the transmission wire includes two transmission line segments, one long transmission line segment and one short transmission line segment, a tensioning structure 40 is disposed between the two transmission line segments, the tensioning structure 40 includes an orthodontic stud 401, an anti-orthodontic stud 402 and a sleeve 403, the orthodontic stud 401 and the anti-orthodontic stud 402 are respectively and fixedly connected with the long transmission line segment and the short transmission line segment, and two ends of the sleeve 403 are respectively in threaded engagement with the orthodontic stud 401 and the anti-orthodontic stud 402. The transmission line in this embodiment adopts a steel wire, and the distance between the orthodontic stud 401 and the anti-orthodontic stud 402 is adjusted by rotating the sleeve 403 to adjust the tension or the looseness of the steel wire, and in this embodiment, the length of the tension structure 40 can be adjusted to be 50mm at most.

In this embodiment, the mechanical arm is applied to a cleaning device, the execution component is a suction nozzle 32, and the suction nozzle 32 is driven to move by the mechanical arm. As other embodiments, the actuator may also be provided as a gripper, a manipulator or a camera.

The mechanical arm is composed of three arms formed by a large arm framework 10, a small arm framework 24 and a three-arm framework 25, and the motion range can reach the radius: 800mm, the initial state of the mechanical arm is shown in figure 5, and compared with the traditional two-arm mechanical arm, the mechanical arm occupies smaller space.

The mechanical arm has five joint degrees of freedom: the first joint takes the hollow shaft 6 as a rotation center, and the mechanical arm integrally rotates within +/-180 degrees under the driving of the first motor 5; the second motor 12 drives the upper arm framework 10 to do pitching motion within a range of +/-90 degrees through a belt transmission mechanism by taking the central axis A as a center; the third joint takes the central axis B as a center and drives the forearm framework 24 to do pitching motion within a range of +/-90 degrees under the driving of the third motor 20; a fourth joint, which is centered on the central axis C, and is driven by the fourth motor 14 to drive the second wire drawing disc 28 to rotate through the fourth wire transmission mechanism, so as to drive the three-arm framework 25 to perform pitching motion within-90 ° to +60 °, wherein a schematic drawing of a wire drawing is shown in fig. 9; the fifth joint is driven by a fifth motor 17 with the central axis D as a center to drive the wire drawing disc four 30 to rotate through a fifth wire transmission structure, so as to drive the suction nozzle 32 to perform pitching motion within a range of ± 75 °, and a schematic drawing of the wire drawing is shown in fig. 10.

The mechanical arm adopts a transmission mode combining belt transmission and wire transmission, and transmits the driving force of the far end to the tail end, namely the execution end, through the transmission wire, so that the problems of steel wire transmission, arrangement, tensioning and the like in the multi-joint mechanical arm are solved, the effective motion range of the mechanical arm is ensured, and the advantage of wire outgoing transmission is more fully exerted.

Furthermore, the utility model discloses in there is the coupling relation between the arm joint, specific saying so, two joints parallel to five rotary central axis in joint, adopt two-stage line drive mechanism to carry out the transmission, make the transmission of motion between big arm skeleton 10, forearm skeleton 24, three arm skeleton 25 and anchor four 30 have the coupling influence, make the last rotary part of same rotary central axis have the coupling relation, for example, lie in anchor three 19 and the fourth intermediate wheel 23 on the same rotary central axis B, lie in fifth intermediate wheel 27 and anchor two 28 on the same rotary central axis C. The coupling ratio is the ratio of the diameter of the intermediate wheel of the line transmission mechanism to the diameter of the wire coil, and the utility model discloses a diameter of the intermediate wheel of the line transmission mechanism is less than the diameter of the wire coil, and the adverse effect caused by the coupling is reduced. To illustrate the coupling relationship and coupling effect of the movement, taking the fifth wire transmission mechanism as an example, the diameter d1 of the fifth intermediate wheel 27 is 40mm, the diameter d2 of the wire-pulling disk four and the diameter d2 is 60mm, and if the fifth intermediate wheel is manually rotated to rotate the fifth intermediate wheel 90 ° counterclockwise under the condition that the motors of the mechanical arm are not driven, the distance for driving the transmission wire to move is taken as an example

Further driving the wire drawing disc four and the wire drawing disc three to rotate anticlockwise by an angle a, thus obtaining

And obtaining the rotation angle a of the wire coil to be 60 degrees. In this illustrative example, the effect of a 90 ° rotation of the intermediate wheel on the movement of the drum causes the drum to rotate 60 ° and dropCoupling effects of the mechanical arm are reduced. In practical application, the diameter difference between the intermediate wheel and the anchor can be increased according to requirements so as to reduce coupling effect and reduce unnecessary movement.

The above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the present invention, so that equivalent changes or modifications made by the structure, features and principles of the present invention should be included in the claims of the present invention.

Claims (12)

1. The utility model provides an anchor for line drive, its characterized in that, the anchor includes the arc surface and is located the plane end of arc surface both sides, and the both sides of anchor arc surface all are provided with wire casing (203), and the plane of anchor both sides is served and all is provided with end of a thread fixed orifices (201), resettlement groove and cross line mouth (202), end of a thread fixed orifices (201) are used for the tip of fixed transmission line, cross line mouth (202) and be linked together with wire casing (203), resettlement groove intercommunication end of a thread fixed orifices (201) and cross line mouth (202), cross line mouth (202) of anchor both sides are 180 distributions.

2. The anchor for wire drive according to claim 1, wherein the anchor is provided with an axial mounting through hole in the middle, and a fan-shaped through hole and an annular groove.

3. A line transmission mechanism is characterized by comprising a driving shaft, an intermediate shaft, a driven shaft, two transmission lines and the anchor plate of claim 1 or 2, wherein the axes of the driving shaft, the intermediate shaft and the driven shaft are parallel, the anchor plate is fixedly arranged on the driving shaft and the driven shaft, the intermediate shaft is provided with an intermediate wheel, two ends of the transmission lines are respectively and fixedly arranged on the line head fixing holes (201) of the two anchor plates, the end parts of the transmission lines penetrate through line passing openings (202) and are wound on the anchor plate through line grooves (203), the intermediate wheel is wound at the middle part of the transmission lines, and the winding directions of the two transmission lines formed on the two anchor plates and the intermediate wheel are different.

4. A wire drive according to claim 3, wherein the intermediate wheel has a diameter less than the diameter of the anchor disc.

5. A wire drive mechanism according to claim 3, wherein the drive wire comprises two drive wire segments, a tensioning structure (40) is arranged between the two drive wire segments, the tensioning structure (40) comprises an orthodontic stud (401), an anti-orthodontic stud (402) and a sleeve (403), the orthodontic stud (401) and the anti-orthodontic stud (402) are respectively and fixedly connected with one drive wire segment, and two ends of the sleeve (403) are respectively in threaded fit connection with the orthodontic stud (401) and the anti-orthodontic stud (402).

6. A wire-driven mechanical arm is characterized by comprising a base fixing plate (1), a first motor (5), a rotating base (8), a large arm framework (10), a small arm framework (24), a three arm framework (25), an executing part, a second motor (12), a third motor (20), a fourth motor (14), a fifth motor (17) and two wire transmission mechanisms according to claim 3, wherein the two wire transmission mechanisms are respectively a fourth wire transmission mechanism and a fifth wire transmission mechanism;

the first motor (5) and the rotating base (8) are arranged on the base fixing plate (1), the first motor (5) is in transmission connection with the rotating base (8), the large arm framework (10) is arranged on the rotating base (8) in a rotating mode, the small arm framework (24) is arranged on the large arm framework (10) in a rotating mode, the three arm framework (25) is arranged on the small arm framework (24) in a rotating mode, and the executing component is arranged on the three arm framework (25) in a rotating mode;

second motor (12), third motor (20), fourth motor (14) and fifth motor (17) all set up on big arm skeleton (10), and second motor (12) drive big arm skeleton (10) and rotate around rotating base (8), and forearm skeleton (24) are connected in third motor (20) transmission, and fourth motor (14) drive three arm skeletons (25) through fourth line drive mechanism and rotate, and fifth motor (17) drive the executive component rotation through fifth line drive mechanism.

7. The wire-driven mechanical arm as claimed in claim 6, wherein a hollow shaft (6) is rotatably arranged on the base fixing plate (1), the end part of the hollow shaft (6) is fixedly provided with the rotating base (8), a large belt wheel (3) is fixedly arranged in the middle of the hollow shaft (6), a small belt wheel (7) is arranged on an output shaft of the first motor (5), the small belt wheel (7) is connected with the large belt wheel (3) through a transmission belt, a tensioning block (4) is further arranged on the base fixing plate (1), and the tensioning block (4) is located between the small belt wheel (7) and the large belt wheel (3).

8. The wire-driven mechanical arm as claimed in claim 6, wherein the second motor (12) is arranged in the middle of the large arm framework (10), the second small belt pulley (13) is arranged at the output end of the second motor (12), the large arm framework (10) is fixedly provided with the second large belt pulley (9), the second large belt pulley (9) is located in the rotation center of the large arm framework (10) and the rotating base (8), and the second large belt pulley (9) and the second small belt pulley (13) are provided with a synchronous belt.

9. The wire-driven mechanical arm as claimed in claim 6, wherein a tensioning adjusting component (11) is further arranged on the large arm framework (10), the tensioning adjusting component (11) comprises a fixing block and an adjusting stud, the fixing block is located on one side of the second motor (12), the adjusting stud is in threaded connection with the fixing block, and the adjusting stud penetrates through the fixing block and abuts against the second motor (12).

10. A wire-driven mechanical arm as claimed in claim 6, wherein the third motor (20) is located at the rotation center of the small arm framework (24) and the large arm framework (10), and the output shaft of the third motor (20) is fixedly connected with the small arm framework (24).

11. A wire-driven mechanical arm as claimed in claim 6, wherein the fourth motor (14) is located at the rotation center of the large arm framework (10) and the rotating base (8), the driving shaft of the fourth transmission mechanism is arranged at the output end of the fourth motor (14), the middle shaft of the fourth motor is arranged at the rotation center of the small arm framework (24) and the large arm framework (10), the driven shaft of the fourth motor is fixedly arranged on the three arm framework (25), and the driven shaft of the fourth motor is located at the rotation center of the three arm framework (25) and the small arm framework (24).

12. A wire-driven mechanical arm as claimed in claim 6, wherein the fifth motor (17) is located at the rotation centers of the small arm framework (24) and the large arm framework (10), the driving shaft of the fifth wire transmission mechanism is arranged at the output end of the fifth motor (17), the middle shaft of the fifth motor is located at the rotation centers of the three arm framework (25) and the small arm framework (24), the driven shaft is rotatably arranged at the tail end of the three arm framework (25), and the driven shaft is fixedly connected with the executing component.

Images