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CN-121973174-A - Rope-driven mechanical arm with high folding and unfolding ratio

CN121973174ACN 121973174 ACN121973174 ACN 121973174ACN-121973174-A

Abstract

A rope-driven mechanical arm with high folding and unfolding ratio belongs to the technical field of mechanical arms. Comprises a vehicle body, a control box, a turntable, a driving rope guide piece, a mechanical arm base, a deflection mechanical arm, a detection device and a joint driving system. When the robot is in a non-working state, the deflection type mechanical arm can be coiled on the turntable, so that the occupied space is reduced. In the working state, in order to enable the mechanical arm to extend out and reach a preset position, a joint driving system and a rotary table driving system in a control box are required to be controlled respectively to enable the mechanical arm joint and the rotary table to rotate in a matched mode, in the extending process of the mechanical arm, the torque compensation bracket can effectively reduce required driving torque of most joints of the mechanical arm, and the obstacle avoidance function can be achieved rapidly through adjusting angles of all joints of the mechanical arm. The invention solves the problems of flexible deployment, high folding ratio, small occupied space in the non-working state, large working space and the like.

Inventors

  • WANG JIAQI
  • LI TE
  • DI YUXIN
  • LIU HAIBO
  • LI XU
  • WANG YONGQING

Assignees

  • 大连理工大学

Dates

Publication Date
20260505
Application Date
20260331

Claims (10)

  1. 1. The high-folding-expansion-ratio rope-driven mechanical arm is characterized by comprising a vehicle body (1), a control box (2), a turntable (3), a driving rope guide piece (4), a mechanical arm base (5), an inclined mechanical arm (6), a detection device (7) and a joint driving system (10); the vehicle body (1) provides support for the whole rope-driven mechanical arm with high folding and unfolding ratio; The control box (2) is used for controlling the rotation of the turntable (3) and the extension and retraction of the deflection mechanical arm (6); The turntable (3) provides coiled basic support for the deflection mechanical arm (6); the driving rope guide piece (4) provides a guiding function for the driving rope in the deflection mechanical arm (6); The mechanical arm base (5) is a connection foundation of the initial end of the inclined mechanical arm (6); The detection device (7) is arranged at the tail end of the deflection mechanical arm (6) and is used for detection; the joint driving system (10) is used for driving the deflection mechanical arm (6) to adjust the pose by tightening and releasing the driving rope.
  2. 2. The rope driving mechanical arm with the high folding and unfolding ratio according to claim 1 is characterized in that the turntable (3) comprises a turntable short shell (34) and a turntable long shell (31) which are mutually fixed in the length direction, and a wire passing opening is arranged at the top of the joint of the turntable short shell (34) and the turntable long shell (31) to provide a space for a driving rope to extend out.
  3. 3. The rope-driven mechanical arm with the high folding ratio according to claim 2 is characterized in that the driving rope guide (4) comprises a guide support (40), a guide front pulley (41), a guide rear pulley (42), a front guide shaft (47) and a rear guide shaft (48), the guide support (40) is respectively fixed at the tops of a turntable short shell (34) and a turntable long shell (31), the distance between the two guide supports (40) is equal to the width of a wire passing opening at the top of the turntable (3), the front guide shaft (47) and the rear guide shaft (48) are fixed between the two guide supports (40) in parallel, but the front guide shaft (47) and the rear guide shaft (48) are not located on the same horizontal plane, the front guide shaft (47) is higher than the rear guide shaft (48), the guide front pulley (41) and the guide rear pulley (42) are respectively rotatably sleeved on the front guide shaft (47) and the rear guide shaft (48), and the guide front pulley (41) and the guide rear pulley (42) are provided with U-shaped rope grooves.
  4. 4. The rope-driven mechanical arm with high folding ratio according to claim 3, wherein the mechanical arm base (5) comprises a base support (50), base joint front guide wheels (51), base joint pulleys (52), base joint shafts (53) and base joint front guide shafts (54), the base support (50) are respectively fixed at the tops of a turntable short shell (34) and a turntable long shell (31) and are positioned at the rear ends of two guide piece supports (40), the distance between the two base support (50) is equal to the width of a line passing opening at the top of the turntable (3), the base joint front guide shafts (54), the base joint shafts (53) are fixed in parallel between the two base support (50), the axes of the base joint front guide shafts (54) and the base joint shafts (53) are on the same horizontal plane, the diameters of the base joint front guide shafts (54) are smaller than those of the base joint shafts (53), the base joint front guide shafts (51) and the base joint pulleys (52) are respectively rotatably sleeved on the base joint front guide shafts (54).
  5. 5. The rope-driven mechanical arm with high folding and unfolding ratio according to claim 4, wherein the deflection mechanical arm (6) comprises a plurality of mechanical arm units, each mechanical arm unit comprises a connecting rod and joints, the initial end of the first connecting rod is rotationally connected with two base brackets (50), the tail end of the last connecting rod is fixedly connected with the detection device, the middle connecting rods are connected through joints, each connecting rod is of a cuboid box-shaped structure, the width of the downstream connecting rod is gradually reduced compared with that of the upstream connecting rod, the rod bodies of the connecting rods are provided with inclination angles, the width of the next connecting rod is reserved after four continuous connecting rods are wound around the rotary disc (3), and each joint comprises a joint front guide shaft (6501), joint shaft (6502), joint rear guide shaft (6503), joint rear guide shaft sleeve (6504), joint shaft sleeve (6505), joint front guide shaft sleeve (6506), joint front guide wheel (6507), joint pulley (6508), A joint rear guide wheel (6509), a joint front guide shaft (6501) transversely penetrates through an upstream connecting rod along the width direction of the tail end of the upstream connecting rod, one end of the joint front guide shaft (6501) is provided with a shaft shoulder structure, the shaft shoulder part is fixedly connected with one side wall of the upstream connecting rod, the positioning of the joint front guide shaft (6501) and one side of the upstream connecting rod is realized, a shaft shoulder of the joint front guide shaft sleeve (6506) is fixed with the other side wall of the upstream connecting rod, the positioning of the joint front guide shaft (6501) and the other side of the upstream connecting rod is realized, the rim of the joint front guide wheel (6507) is provided with a U-shaped rope groove matched with the rope diameter of a driving rope, the joint front guide wheel (6507) is sleeved on the joint front guide shaft (6501) through a rolling bearing, the joint front guide wheel (6507) can freely rotate relative to the joint front guide shaft (6501), the joint front guide wheel (6507) is a first driving rope (91), The second driving rope (92) provides a rope inlet guide point and preliminarily determines the angle of the driving rope entering the joint, a joint shaft (6502) transversely penetrates through the upstream connecting rod along the width direction of the tail end of the upstream connecting rod, the joint shaft (6502) is positioned at the downstream of the front joint guide shaft (6501), one end of the joint shaft (6502) is provided with a shaft shoulder structure, the shaft shoulder part is fixedly connected with one side wall of the upstream connecting rod to position the joint shaft (6502) and one side of the upstream connecting rod, the other end of the joint shaft is provided with a joint shaft sleeve (6505), the shaft shoulder of the joint shaft sleeve (6505) is fixed with the other side wall of the upstream connecting rod to position the joint shaft (6502) and the other side of the upstream connecting rod, a U-shaped rope groove matched with the rope diameter of the driving rope is formed in the rim of a joint pulley (6508), the joint pulley (6508) is fixedly sleeved on the joint shaft (6502) through a key, and the first driving rope (91), The second drive cord (92) is wound around the U-shaped cord groove in an opposite direction to form a differential drive relationship when one of the drive cords is tightened, When the other driving rope is loosened, friction force between the driving rope and the joint pulley (6508) generates driving moment to drive the downstream connecting rod to rotate, the head end of the downstream connecting rod is rotationally sleeved on the joint shaft (6502) through bearings, each bearing is positioned between the end part of the joint pulley (6508) and the inner side wall of the upstream connecting rod, the joint rear guide shaft (6503) transversely passes through the downstream connecting rod along the width direction of the downstream connecting rod and is positioned at the downstream of the joint shaft (6502), one end of the joint rear guide shaft (6503) is provided with a shaft shoulder structure, the shaft shoulder part is fixedly connected with one side wall of the downstream connecting rod to realize the positioning of the joint rear guide shaft (6503) and one side wall of the downstream connecting rod, the other end of the joint rear guide shaft sleeve (6504) is fixedly arranged on the shaft shoulder part of the joint rear guide shaft sleeve (6504) and the other side wall of the downstream connecting rod to realize the positioning of the joint rear guide shaft (6503) and the other side wall of the downstream connecting rod, the rim of the joint rear guide wheel (6509) is provided with a U-shaped rope groove matched with the rope diameter of the driving rope, the joint rear guide wheel (09) is sleeved on the rolling bearing (6503) to realize the relative rotation of the joint rear guide shaft (6503) and the rear guide shaft (6509) to the free rotation of the joint rear guide shaft (91), The second driving rope (92) turns smoothly, each connecting rod is provided with a driving rope fixing piece (6510), the driving rope fixing pieces (6510) are of an H-shaped or dumbbell-shaped thin-wall structure, the upper end and the lower end of each driving rope fixing piece are large-size flat plates or blocks, the middle of each driving rope fixing piece is connected through a thin rod, the thin rods penetrate through the thickness direction of the downstream connecting rod, the length direction of each thin rod is parallel to the deflection direction of the downstream connecting rod, and grooves are formed in the thin rods and are used for firmly binding the tail ends of the first driving rope (91) and the second driving rope (92).
  6. 6. The rope-driven mechanical arm with the high folding and unfolding ratio according to claim 5 is characterized in that the moment compensation bracket (8) comprises a left supporting plate (800), a right supporting plate (801), a bracket front guide roller (802) and a bracket rear guide roller (803), one ends of the left supporting plate (800) and the right supporting plate (801) are respectively fixed on the side surfaces of the turntable long shell (31) and the control box (2), the bracket front guide roller (802) and the bracket rear guide roller (803) which are parallel to each other are rotatably arranged between the left supporting plate (800) and the right supporting plate (801) at the other end, the bracket front guide roller (802) is arranged above the upstream of the bracket rear guide roller (803), and the upper edge of the bracket front guide roller is flush with the top surfaces of the turntable long shell (31) and the turntable short shell (34).
  7. 7. The high-folding-ratio rope driving mechanical arm disclosed by claim 6 is characterized in that the joint driving system (10) comprises a left power source (101), a left wire spool (102), a right wire spool (103) and a right power source (104), the total number of the left power source (101) and the right power source (104) is equal to the number of connecting rods, the left power source (101) and the right power source (104) are arranged near the connecting surface of a turntable long shell (31) and a turntable short shell (34) and fixed on the inner side wall of the turntable long shell (31) and the turntable short shell (34), a left wire spool (102) and a right wire spool (103) are fixedly arranged on a motor output shaft of the left power source (101) or the right power source (104), U-shaped spiral grooves with opposite rotation directions and equal screw pitches are respectively arranged at two ends of the left wire spool (102) or the right wire spool (103), a first driving rope (91) and a second driving rope (92) are fixedly wound in the U-shaped spiral grooves at two ends, and the winding directions of the first driving rope (91) and the second driving rope (92) are opposite.
  8. 8. The rope-driven mechanical arm with high folding and unfolding ratio according to claim 7, wherein the number of U-shaped rope grooves on the front pulley (41), the rear pulley (42), the front guide wheel (6507), the joint pulley (6508) and the rear guide wheel (6509) is larger than the number of connecting rods.
  9. 9. The high-folding-ratio rope driving mechanical arm according to claim 8, wherein the first driving rope (91) and the second driving rope (92) sequentially pass through the front guide pulley (41), the rear guide pulley (42), the front base joint guide pulley (51) and the base joint pulley (52) from each left wire spool (102) or right wire spool (103), respectively pass through two sides of the front joint guide pulley (6507), then are wound on the joint pulley (6508) in a 180-degree opposite wrap angle, pass through the joint pulley (6508) and then pass through two sides of the rear joint guide pulley (6509), and finally are fixed at the groove of the thin rod in the driving rope fixing part (6510).
  10. 10. The high-folding-ratio rope-driven mechanical arm is characterized in that the vehicle body (1) is a wheeled vehicle body or a rail-type vehicle body, the vehicle body (1) can drive the high-folding-ratio rope-driven mechanical arm to move, and a motor and a driver which can control the rotation of the turntable (3) and the moment compensation bracket (8) are arranged in the control box (2).

Description

Rope-driven mechanical arm with high folding and unfolding ratio Technical Field The invention belongs to the technical field of mechanical arms, and relates to a rope-driven mechanical arm with a high folding and unfolding ratio. Background In the fields of aerospace, energy power, traffic and the like, a large number of small and deep closed complex spaces exist, such as an aeroengine air inlet channel, a chemical pipeline interlayer, engineering equipment gaps, bridge bottoms and the like, and the operations of operation and maintenance, assembly, detection, defect repair and the like of the spaces have extremely high requirements on the space suitability, the operation range and the flexible operability of an executing mechanism. The rope-driven mechanical arm is characterized in that the rope-driven mechanical arm is a core execution device for complex scene operation by virtue of the advantages of light dead weight, compact structure and strong passing performance in a narrow space, the tail end of the rope-driven mechanical arm can be used for carrying and clamping various sensors, mechanical arm grabbing tools and the like according to operation requirements, and compared with the traditional joint mechanical arm, the rope-driven mechanical arm has the core advantages of large operation space, strong operation capacity in the narrow space and small occupied space in a non-working state, and is a research and development key in the field of special operation equipment. The traditional multi-joint rigid mechanical arm adopts a driving mode of directly driving a joint by a motor, important parts such as a motor, a speed reducer and the like are integrated at the joint, so that the joint is large in size, the dead weight of the machine is too high, the folding and unfolding ratio is low, the rigid mechanical arm cannot flexibly stretch into a complex narrow space with large depth and small caliber to finish operation, meanwhile, the deployment occupied area of the rigid mechanical arm is large, and the rigid mechanical arm is difficult to adapt to the operation requirements of limited scenes such as urban dense areas, narrow positions of workshops, narrow cavities in equipment and the like, and has obvious limitation in application scenes. In recent years, a learner has proposed a related robot for small and deep space detection. In the invention patent with publication number of CN114406984A, the national defense and science and technology innovation institute of the national institutes of civil liberation military science and technology discloses a hybrid driving type foldable space soft mechanical arm which adopts a multi-section modularized structure, and realizes the variable stiffness performance and the high folding ratio storage capacity of the mechanical arm in a rope driving and inflation driving combined mode, thereby meeting the requirements of narrow space trafficability and load operation. At present, the research of the rope-driven mechanical arm is mainly focused on the ground industrial scene, and the good application effect is achieved in the scenes of equipment maintenance, narrow-cavity detection, and the like. However, the existing mechanical arm still faces a great challenge in the application environment facing the space task. The space task is more severe in requirements on the volume, the quality and the like of equipment, and also provides higher requirements on further optimizing the lightweight structural layout and the high-folding-unfolding-ratio storage mode of the rope-driven mechanical arm. Disclosure of Invention Aiming at the task requirement that the robot is required to be flexibly deployed and occupies small space, the invention discloses the rope-driven mechanical arm with high folding and unfolding ratio. The technical scheme of the invention is as follows: The high-folding-expansion-ratio rope-driven mechanical arm comprises a vehicle body 1, a control box 2, a turntable 3, a driving rope guide 4, a mechanical arm base 5, a deflection mechanical arm 6, a detection device 7 and a joint driving system 10; the vehicle body 1 provides support for the whole rope-driven mechanical arm with high folding and unfolding ratio; The control box 2 is used for controlling the rotation of the turntable 3 and the extension and retraction of the deflection mechanical arm 6; the turntable 3 provides coiled basic support for the deflection type mechanical arm 6; The driving rope guide 4 provides a guiding function for the driving rope in the deflection type mechanical arm 6; the mechanical arm base 5 is a connection foundation of the initial end of the inclined mechanical arm 6; The detection device 7 is arranged at the tail end of the deflection type mechanical arm 6 and is used for detection; The joint driving system 10 tightens and releases the driving rope to drive the deflection mechanical arm 6 to adjust the pose. Further, the turntable 3 comprises a turntable short shell 34