Large angle rotary type joint mechanism of mechanical arm

Abstract

The invention relates to a large-angle rotary joint mechanism of manipulators, belonging to the technical field of machinery, which is characterized in that, a first steel wire rotary table, a third steel wire rotary table and a first joint shaft are fixedly arranged at the root of a first arm respectively; a second steel wire rotary table a fourth steel wire rotary table and a second joint shaft are fixedly arranged at the root of a second arm respectively; a joint shaft connecting rod is arranged on the first joint shaft and the second joint shaft, which can rotate respectively and freely along the axis of the first joint shaft and the second joint shaft; the first to the fourth wire ropes are respectively wound on the U-shaped grooves of the first to the fourth steel wire rotary table; an 8 shape is formed after being wound, and the tension state is maintained. The large-angle rotary joint mechanism has the advantages that the contradiction between the stiffness of the rotary joint mechanism of the manipulator and the dimension of a rotational angle is solved; a large-angle rotary joint mechanism having an angle ranging from about positive 180 degrees to negative 180 degrees is provided; meanwhile, the joint mechanism has simple and compact structure, neat appearance, light weight, large stiffness, no need of precision parts for manufacturing and processing, low cost, and the like, and application space is large.

Description

technical field [0001] The invention relates to a device in the technical field of machinery, specifically, a large-angle rotary joint mechanism of a mechanical arm. Background technique [0002] The rotary joint of the manipulator is the key element that determines the spatial movement capability of the manipulator. The rotary joint of the mechanical arm usually uses a similar pin method or a rotating shaft method to achieve a reciprocating rotary motion at a certain angle. Common rotary joints of manipulators have a cantilever shaft structure or a symmetrical shaft structure. The cantilever shaft structure can achieve a large angle of rotation exceeding ±90°, but the appearance is not compact, and the structural design must be enhanced to increase the rigidity of the cantilever shaft. The symmetrical axis structure has better rigidity and appearance, but due to the limitation of structural space, it is difficult to achieve a large-angle rotation exceeding ±90°. [0003]...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides a large-angle rotary joint mechanism of a mechanical arm, which solves the problem of contradiction between the structural rigidity and the rotation angle of the rotary joint of the existing mechanical arm

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