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CN-224209951-U - Rope-driven multi-degree-of-freedom mechanical arm

CN224209951UCN 224209951 UCN224209951 UCN 224209951UCN-224209951-U

Abstract

The application discloses a rope-driven multi-degree-of-freedom mechanical arm, and belongs to the technical field of multi-joint mechanical arms. The mechanical arm comprises a base bottom plate, a waist unit, a large arm unit, a small arm unit, an end execution unit, a large arm driving unit, a small arm driving unit, an end driving unit, a transmission mechanism formed by ropes and a tensioning mechanism, wherein the transmission mechanism and the tensioning mechanism are connected with each driving unit and corresponding joint rotating shafts through the ropes, and the movement of multiple degrees of freedom of the mechanical arm is realized. The tensioning mechanism has the advantages that the tensioning force of the rope can be flexibly adjusted through the active control of the tensioning driving motor, the application range of the mechanical arm is greatly expanded, the mechanical arm can be better adapted to different working conditions, on the other hand, the opposite force can be provided for the large arm and the small arm unit in an auxiliary mode when the large arm and the small arm unit move, the working stability of the mechanical arm and the small arm unit is improved, in addition, the mechanical coupling characteristic can be utilized to synchronously tension the large arm, the small arm and the tail end driving rope by only one tensioning driving rope, and the structure is simplified.

Inventors

  • YAN FEI
  • HU LINFENG
  • XU QIWANG
  • LI JIANHUA
  • HAN HUAWEI

Assignees

  • 烟台大学

Dates

Publication Date
20260508
Application Date
20250520

Claims (10)

  1. 1. A rope-driven multi-degree-of-freedom mechanical arm comprises a base bottom plate (1), a waist unit (2), a big arm unit (3), a small arm unit (4) and an end execution unit (5) which are sequentially connected in series downwards from the base bottom plate (1), wherein the units are mutually hinged through a rotating shaft, a big arm driving unit (6), a small arm driving unit (7) and an end driving unit (8) which are arranged on the upper surface of the base bottom plate (1), and a transmission mechanism which consists of a big arm driving rope (11), a small arm driving rope (12) and an end driving rope (13); The two ends of the big arm driving rope (11) are respectively connected with the output end of the big arm driving unit (6) and the big arm joint rotating shaft (33) of the big arm unit (3), the two ends of the small arm driving rope (12) are respectively connected with the output end of the small arm driving unit (7) and the small arm joint rotating shaft (43) of the small arm unit (4), and the two ends of the tail end driving rope (13) are respectively connected with the output end of the tail end driving unit (8) and the tail end rotating shaft (52); It is characterized in that the method comprises the steps of, The novel tension device is characterized by further comprising a tensioning mechanism (9), wherein the tensioning mechanism (9) comprises a tensioning driving motor (91) arranged on the base bottom plate (1), a tensioning driving rope (93) connected with the output end of the tensioning driving motor (91) and a tensioning wheel (94) arranged on the tail end rotating shaft (52), the other end of the tensioning driving rope (93) is fixedly wound on the tensioning wheel (94), the winding directions of the large arm driving rope (11), the small arm driving rope (12) and the tail end driving rope (13) and the driving wheels corresponding to the small arm driving rope are the same, and the winding directions of the tensioning driving rope (93) and the tensioning wheel (94) are opposite to the winding directions.
  2. 2. The rope-driven multiple degree of freedom mechanical arm of claim 1 wherein, The large arm unit (3) is hinged with the waist unit (2) through a large arm joint rotating shaft (33), and one end of the large arm driving rope (11) is wound and fixed with a large arm joint driving wheel (35) arranged on the large arm joint rotating shaft (33) to realize connection transmission of the large arm unit (3); the small arm unit (4) is hinged with the big arm unit (3) through a small arm joint rotating shaft (43), and one end of the small arm driving rope (12) is wound and fixed with a small arm joint driving wheel (45) arranged on the small arm joint rotating shaft (43) after passing through the big arm joint rotating shaft (33) so as to realize connection transmission of the small arm unit (4); The end execution unit (5) is hinged with the forearm unit (4) through an end rotating shaft (52), and one end of the end driving rope (13) sequentially passes through the big arm joint rotating shaft (33) and the forearm joint rotating shaft (43) and then is wound and fixed with an end joint driving wheel (53) arranged on the end rotating shaft (52) so as to realize connection transmission of the end execution unit (5).
  3. 3. The rope-driven multiple degree of freedom mechanical arm of claim 2 wherein, The stress points of the large arm driving rope (11), the small arm driving rope (12) and the large arm joint rotating shaft (33) are respectively positioned at two sides of the large arm joint rotating shaft (33), and the stress points of the small arm driving rope (12), the tail end driving rope (13) and the small arm joint rotating shaft (43) are respectively positioned at two sides of the small arm joint rotating shaft (43).
  4. 4. The rope-driven multiple degree of freedom mechanical arm of claim 2 wherein, The large arm unit (3) further comprises a left large arm joint guide wheel (361), a middle large arm joint guide wheel (362) and a right large arm joint guide wheel (363) which are coaxially arranged on the large arm joint rotating shaft (33) with the large arm joint driving wheel (35), a large arm support shaft (34) which is arranged at the downstream of the large arm joint rotating shaft (33) in parallel with the large arm joint rotating shaft, and a left large arm support guide wheel (371), a middle large arm support guide wheel (372) and a right large arm support guide wheel (373) which are arranged on the large arm support shaft (34).
  5. 5. The rope-driven multiple degree of freedom mechanical arm of claim 4 wherein, The forearm unit (4) further includes a left forearm joint guide wheel (461) and a right forearm joint guide wheel (462) coaxially provided on the forearm joint rotation shaft (43) with the forearm joint drive wheel (45), a forearm support shaft (44) provided downstream thereof in parallel with the forearm joint rotation shaft (43), and a left forearm support guide wheel (471) and a right forearm support guide wheel (472) provided on the forearm support shaft (44).
  6. 6. The rope-driven multiple degree of freedom mechanical arm of claim 5 wherein, The number of the large arm support shafts (34) and the small arm support shafts (44) may be set to 1 or more.
  7. 7. The rope-driven multiple degree of freedom mechanical arm of claim 6 wherein, The forearm driving rope (12) is finally wound and fixed with the forearm joint driving wheel (45) after sequentially passing through the right forearm joint guiding wheel (363) and the right forearm supporting guiding wheel (373), and central symmetry lines of the right forearm joint guiding wheel (363), the right forearm supporting guiding wheel (373), the forearm joint driving wheel (45) and the forearm driving wheel (72) at the output end of the forearm driving unit (7) are all positioned on the same plane.
  8. 8. The rope-driven multiple degree of freedom mechanical arm of claim 7 wherein, The tail end driving rope (13) is finally wound and fixed with the tail end joint driving wheel (53) after sequentially passing through the left big arm joint guiding wheel (361), the left big arm supporting guiding wheel (371), the left small arm joint guiding wheel (461) and the left small arm supporting guiding wheel (471), and central symmetry lines of the left big arm joint guiding wheel (361), the left big arm supporting guiding wheel (371), the left small arm joint guiding wheel (461), the left small arm supporting guiding wheel (471), the tail end joint driving wheel (53) and the tail end driving wheel (82) at the output end of the tail end driving unit (8) are all positioned on the same plane.
  9. 9. The rope-driven multiple degree of freedom mechanical arm of claim 8 wherein, The tensioning driving rope (93) sequentially passes through the middle and large arm joint guide wheel (362), the middle and large arm supporting guide wheel (372), the right and small arm joint guide wheel (462) and the right and small arm supporting guide wheel (472) and finally winds and fixes with the tensioning wheel (94), and central symmetry lines of the middle and large arm joint guide wheel (362), the middle and large arm supporting guide wheel (372), the right and small arm joint guide wheel (462), the right and small arm supporting guide wheel (472), the tensioning wheel (94) and the tensioning driving wheel (92) at the output end of the tensioning driving motor (91) are all positioned on the same plane.
  10. 10. The rope-driven multiple degree of freedom mechanical arm of claim 1 wherein, The large arm driving unit (6) comprises a large arm driving motor (61) fixedly connected to the upper surface of the base bottom plate (1) and a large arm driving wheel (62) coaxially connected with a driving shaft of the large arm driving motor (61), and one end of the large arm driving rope (11) is wound and fixed on the large arm driving wheel (62); The small arm driving unit (7) comprises a small arm driving motor (71) fixedly connected to the upper surface of the base bottom plate (1) and a small arm driving wheel (72) coaxially connected with a driving shaft of the small arm driving motor (71), and one end of the small arm driving rope (12) is wound and fixed on the small arm driving wheel (72); The tail end driving unit (8) comprises a tail end driving motor (81) fixedly connected to the upper surface of the base bottom plate (1) and a tail end driving wheel (82) coaxially connected with a driving shaft of the tail end driving motor (81), and one end of the tail end driving rope (13) is wound and fixed on the tail end driving wheel (82).

Description

Rope-driven multi-degree-of-freedom mechanical arm Technical Field The application relates to the technical field of multi-joint mechanical arms, in particular to a rope-driven multi-degree-of-freedom mechanical arm. Background In the technical field of multi-joint mechanical arms, a rope-driven multi-degree-of-freedom mechanical arm has been attracting attention because of unique advantages. In the early stage, the multi-degree-of-freedom serial electric drive mechanical arm is provided with a drive motor nearby a joint, so that the motor becomes an extra load of the mechanical arm, and a large amount of unnecessary energy is consumed for lifting the motor by the mechanical arm. In an underwater operation scene, the motor at the joint also faces the problem of waterproof sealing, and a large amount of sealing pressure-resistant materials are used, so that the volume, the mass and the moment of inertia of the mechanical arm are increased, the operation performance of the mechanical arm is weakened, and larger interference is generated on an underwater carrier. In order to solve the problems, the multi-degree-of-freedom serial mechanical arm driven by the rope is generated, the driving motor is concentrated on the base, and the power is transmitted by the rope, so that the quality of the mechanical arm body is effectively reduced, the operation energy consumption ratio is improved, and meanwhile, the waterproof sealing problem of the motor during underwater operation is avoided. However, the existing rope-driven mechanical arm still has a plurality of defects. As in the patent CN118906039a, a self-tensioning rope driving mechanical arm with multiple degrees of freedom is proposed, in this scheme, through ingenious configuration of rope paths and winding directions, the linkage tensioning of multi-stage ropes is realized by combining gravity coupling action with a single spring, specifically, the tensioning spring acts on the terminal unit, and the tension is sequentially transferred to the small arm and the large arm unit through the terminal driving rope. However, this passive tensioning approach has significant limitations in practical applications, where the tension adjustment capability is limited by the elastic properties of the springs, and where the individual springs may not provide sufficient tension to fully balance the external forces when the end effector is subjected to a large load or in certain specific orientations. For example, in the underwater operation or heavy object carrying scene, the composite moment generated by the gravity and the load of the mechanical claw easily exceeds the design bearing capacity of the spring, so that the rope is loosened, and the coordination between the mechanical arm and the mechanical arm is problematic. Therefore, there is a need for a more advanced rope driven mechanical arm with a tensioning mechanism that can accommodate load changes to improve the stability and reliability of the system, thereby improving the performance and applicability of the mechanical arm. Disclosure of utility model The application aims to provide a rope-driven multi-degree-of-freedom mechanical arm so as to solve the problems in the prior art. The embodiment of the application can be realized by the following technical scheme: a multi-degree-of-freedom mechanical arm driven by ropes comprises a base bottom plate, a waist unit, a big arm unit, a small arm unit and an end execution unit which are sequentially connected in series downwards from the base bottom plate and are mutually hinged through rotating shafts, a big arm driving unit, a small arm driving unit and an end driving unit which are arranged on the upper surface of the base bottom plate, and a transmission mechanism which is formed by the big arm driving ropes, the small arm driving ropes and the end driving ropes, wherein two ends of the big arm driving ropes are respectively connected with the output ends of the big arm driving units and the big arm joint rotating shafts of the big arm units, two ends of the small arm driving ropes are respectively connected with the output ends of the small arm driving units and the small arm joint rotating shafts of the small arm units, two ends of the end driving ropes are respectively connected with the output ends of the end driving units and the end rotating shafts of the small arm driving units, and the tensioning mechanism comprises a tensioning driving motor arranged on the base bottom plate, a tensioning driving rope connected with the output ends of the tensioning driving motor, and a tensioning wheel arranged on the end rotating shafts, the other end of the tensioning driving ropes is fixedly wound on the tensioning wheel, the tensioning driving rope is respectively, two ends of the tensioning driving ropes are respectively, the two ends of the tensioning driving ropes are respectively, and the tensioning driving wheels are respectively, and the tensioning directions betw