Mechanical arm horizontal rotating joint capable of vertically passing through steel wire rope

Abstract

A mechanical arm horizontal rotating joint capable of vertically passing through a steel wire rope comprises a base, a flange plate, a supporting disc, a differential transmission mechanism and a steel wire rope reversing wheel train. A bearing piece extending in the axial direction is arranged on the flange plate, and an open annular plate extending in the axial direction is arranged on the supporting disc. The steel wire rope reversing wheel train is arranged on the flange plate and the supporting disc and used for guiding a direction-changing steel wire rope set in the vertical direction to the horizontal direction, the flange plate is connected with the output end of the differential transmission mechanism, the supporting disc is connected with the input end of the differential transmission mechanism, and the differential transmission mechanism is movably installed on the base. A power steel wire rope group for driving the flange plate to rotate is reversely wound in a pair of driving grooves. The length of the steel wire rope of the turning steel wire rope group which achieves horizontal entering and vertical exiting is not changed, the horizontal joint and the vertical joint do not interfere with each other in the movement process, the overall flexibility is improved, and the movement inertia is reduced.

Description

technical field [0001] The invention relates to a joint, in particular to a horizontally rotating joint of a mechanical arm that can vertically pass through a wire rope. Background technique [0002] With the continuous development of industrial technology and the popularization of automation technology, robots have become a necessary means to improve the efficiency of industrial production. The wire drive method can realize the remote control of the motor, which makes the design of the low-inertia joint and parallel drive of the robot more convenient to realize, and improves the precision and flexibility of the robot. In the design of steel wire drive, it is often necessary for the steel wire to pass through a single-degree-of-freedom or multi-degree-of-freedom joint to ensure that its length remains unchanged. The existing design is generally achieved by dynamic compensation of the motor, or by designing the steel wire to pass through the joint axis horizontally. Yes, the...

AI Technical Summary

Problems solved by technology

In the design of steel wire drive, it is often necessary for the steel wire to pass through a single-degree-of-freedom or multi-degree-of-freedom joint to ensure that its length remains unchanged. The existing design is generally achieved by dynamic compensation of the motor, or by designing the steel wire to pass through the joint axis horizontally. Yes, the former of these two methods will affect the motion stability and increase the difficulty of control, while the latter cannot realize the transmission condition that requires the steel wire rope to pass vertically

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