Spring return type rope-driven mechanical arm

Abstract

The invention discloses a spring return type rope-driven mechanical arm which is provided with a base supporting plate, a driving mechanism is installed on one side of the base supporting plate, the head end of an upper arm is installed on the other side of the base supporting plate, and the tail end of the upper arm is installed at the head end of a middle arm through a shoulder joint torsion spring. The tail end of the middle arm is installed at the head end of the small arm through an elbow joint torsion spring. According to the mechanical arm, the mechanical arm joint is driven by the spring return type rope, the tail end of the driving rope is fixed to the mechanical arm rod, the distance between the driving rope and the joint is far, and the force arm acted by the rope is large. The rope tension is much smaller under the condition of the same load, so that the power required by the driving motor can be greatly reduced, the power consumption is reduced, and the utilization rate of energy is further improved.

Description

technical field [0001] The invention relates to the technical field of rope-driven manipulators, in particular to a spring return type rope-driven manipulator. Background technique [0002] With the development of science and technology, industrial production is becoming increasingly automated, and robotic arms have been used more and more widely. The traditional robotic arm uses motors, reducers and other drive units directly placed at the joints to drive the rotation of the joints, which has the advantages of high precision, fast speed, and high efficiency, and has been widely used in manufacturing, assembly, logistics and other fields. This method usually makes the mass of the boom part of the manipulator too large, and the motor, reducer and other devices at the rear joint will become the load driven by the front joint, resulting in relatively high power of the manipulator and reducing the energy utilization rate. Moreover, the rigidity of the mechanical arm is too larg...

AI Technical Summary

Problems solved by technology

This method usually makes the mass of the boom part of the manipulator too large, and the motor, reducer and other devices at the rear joint will become the load driven by the front joint, resulting in relatively high power of the manipulator and reducing the energy utilization rate.

And the mechanical arm is too rigid and lacks flexibility, making it unsuitable for medical, service, family and other occasions with high human-computer interaction

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