Unlock instant, AI-driven research and patent intelligence for your innovation.

Gear ratio series-parallel-connection elastic driving rotary joint mechanism

A technology of elastically driving and rotating joints, applied in the field of robotics, can solve the problems of joint vibration, inability to continuously change the transmission ratio, and no buffer, etc., to achieve the effect of continuously changing the transmission ratio

Inactive Publication Date: 2014-12-10
HARBIN INST OF TECH
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing robot rotary joints cannot continuously change the transmission ratio and have no buffering function, resulting in the vibration of the joints under impact loads, the present invention further provides a variable speed ratio series-parallel elastic drive rotary joint mechanism

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Gear ratio series-parallel-connection elastic driving rotary joint mechanism
  • Gear ratio series-parallel-connection elastic driving rotary joint mechanism
  • Gear ratio series-parallel-connection elastic driving rotary joint mechanism

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0022] Specific implementation mode one: as Figure 1~4 As shown, a variable speed ratio series-parallel elastically driven rotary joint mechanism described in this embodiment, the variable speed ratio series-parallel elastically driven joint mechanism includes a robot upper limb 40 and a robot lower limb 39, and the variable speed ratio series-parallel elastically driven joint mechanism It also includes the elastic driver I and the series-parallel drive joint II, the upper limb 40 of the robot and the lower limb 39 of the robot are connected together through the series-parallel drive joint II, and the elastic driver I drives the series-parallel drive joint II through a belt drive to move;

[0023]Elastic driver 1 comprises drive motor 1, friction wheel sliding guide bar 2, small friction wheel 3, large friction wheel 4, rotating shaft 5, thrust spring 7, thrust bearing 8 and steering gear 9; The output shaft of drive motor 1 connects friction wheel sliding The guide rod 2 and...

specific Embodiment approach 2

[0025] Specific implementation mode two: as Figure 1~4 As shown, the upper limb 40 of the robot in this embodiment is the thigh of the robot, and the lower limb 39 of the robot is the lower leg of the robot. Other components and connections are the same as those in the first embodiment.

[0026] The robot upper limb 40 can also be a robot arm, and the robot lower limb 39 can also be a robot forearm. The robot upper limb 40 and the robot lower limb 39 form a joint rotation pair on the robot.

specific Embodiment approach 3

[0027] Specific implementation mode three: as Figure 1~4 As shown, in this embodiment, the large pulley 23 is installed on the outer sidewall of the cover 28 and the outer sidewall of the annular groove 39 - 2 through the positioning pin 24 . Other components and connections are the same as those in the first embodiment.

[0028] work process:

[0029] Work process such as Figure 4 As shown, the process from state 1 to state 2: the first crank 10 rotates clockwise by α angle, because the first crank 10 is not in contact with the second crank 12, the second crank 12 does not rotate, that is, the large friction wheel 4 is pushed away Separate from the small friction wheel 3, while the millet friction wheel 3 remains stationary; the process from state 2 to state 3: the first crank 10 rotates clockwise by β angle, since the first crank 10 is not in contact with the second crank 12, the two cranks At the same time, the angle β is rotated, the big friction wheel 4 keeps its pos...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a gear ratio series-parallel-connection elastic driving rotary joint mechanism, and belongs to the technical field of robots. The gear ratio series-parallel-connection elastic driving rotary joint mechanism resolves the problems that an existing robot rotary joint is not capable of continuously changing the gear ratio and has no buffering function, so that vibration is generated when the joint suffers an impact load. A motor is connected with a friction wheel sliding guide rod, a small friction wheel is capable of axially sliding on the guide rod through a sliding key and is capable of rotating along with the guide rod, a big friction wheel is fixedly connected with a rotation shaft, the rotation shaft is supported through a pair of needle bearings to achieve axial movement, a thrust spring acts on the rotation shaft through a thrust bearing to apply pressure on the two friction wheels, a steering engine drives two crank and rocker mechanisms to move, a first crank is capable of intermittently driving a second crank to move, a first connection rod drives an anti-thrust block to move up and down, the anti-thrust block is provided with a concave groove, and a rolling cylinder is embedded in and out of the concave groove in the up-and-down moving process of the anti-thrust block, so that the rotation shaft is driven to move axially. The gear ratio series-parallel-connection elastic driving rotary joint mechanism is capable of continuously changing the gear ratio, has the characteristics of an elastic driver, and stores energy.

Description

technical field [0001] The invention relates to a series-parallel elastic drive joint mechanism with variable speed ratio, which belongs to the technical field of robots. Background technique [0002] Traditional robot rotary joints are generally directly driven by the drive unit, which has good position control accuracy. Since there are no flexible components in the rotary joint structure, it does not have the function of buffering. However, in many occasions, the joints are subjected to impact loads. Vibration, and the existing robot rotating joints cannot adjust the transmission ratio, so that the driver cannot adapt to different working conditions. For example, it is installed at the knee joint of the robot to walk on the ground and go up the stairs. The driving torque required by the joint when going up the stairs is much larger. Walk on flat ground. When going up stairs, it is impossible to increase the transmission ratio to ensure that the driver can output enough po...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
Inventor 闫继宏朱延河臧希喆刘玉斌赵杰陈辉
Owner HARBIN INST OF TECH