A manipulator driven by a wire rope

Abstract

A steel wire rope transmission mechanical hand comprises a bottom frame and a grasp hand arranged above the bottom frame, and the grasp hand sequentially passes through a wrist arm, a small arm, a large arm and a rotary arm which are hinged sequentially to be connected with the bottom frame. A driving rope is arranged, the rotation speed and toque of movement of each joint are transmitted through the driving rope, other driving mechanisms are arranged on the bottom frame, the load of a mechanical arm is lightened, the grasp hand can lift heavier objects, and the capacity of load bearing of a work mechanism is improved. The wrist arm, the small arm, the large arm and the rotary arm are arranged, so that the grasp hand has a large movement range. A wrist arm wheel, a small arm wheel and a large arm wheel are arranged so that the mechanical arm can flexibly rotate vertically. A rotary arm wheel is arranged so that the mechanical arm can revolve. A clamping sleeve is arranged, the transmission effect of the driving rope is guaranteed and the driving rope is protected.

Description

technical field [0001] The invention relates to a manipulator, in particular to a manipulator driven by a wire rope. Background technique [0002] The joints of traditional manipulators are directly connected by motor, gear reducer, and joint shaft for transmission. This transmission method requires the motor and gear reducer to be installed near the joints of the manipulator. The mechanism is simple, but the structure is not compact enough and the appearance is not clean. It is the weight of the motor and reducer that will form an additional load on the upper-level joints, increasing the overall weight, volume, cost and internal consumption, reducing the ability and efficiency of the manipulator to do work externally, resulting in a small workload for the manipulator, making it difficult to grasp and compare heavy objects. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a manipulator driven by wire ropes with r...

AI Technical Summary

Problems solved by technology

[0002] The joints of traditional manipulators are directly connected by motor, gear reducer, and joint shaft for transmission. This transmission method requires the motor and gear reducer to be installed near the joints of the manipulator. The mechanism is simple, but the structure is not compact enough and the appearance is not clean. Especially It is the weight of the motor and reducer that will form an additional load on the upper-level joints, increasing the overall weight, volume, cost and internal consumption, reducing the ability and efficiency of the manipulator to do work externally, resulting in a small workload for the manipulator, and it is difficult to grasp and compare heavy object

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