Hybrid Drive Robotic Wrist Transmission System
A hybrid drive and transmission system technology, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems that it is difficult to achieve the consistency of the four wire ropes, it is difficult to assemble and maintain the mechanical arm, and it does not have active movement functions, etc., to achieve weight reduction, The effect of strong adaptability and increased flexibility
Active Publication Date: 2015-10-28
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
But its disadvantages are: there are many operating ropes, the layout is complicated, and it is not easy to assemble and maintain the mechanical arm. It is a parallel robot
Although this structure can achieve a large-angle rotation of the joint close to plus or minus 180 degrees, this joint does not have the active movement function. It uses the friction force between the wire rope and the wire sheave to transmit power, and the transmission efficiency is low, and it is difficult to realize four wire ropes. Consistency of tension adjustment
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[0017] see Figure 1 to Figure 3 As shown, the present invention discloses a hybrid drive robot wrist transmission system, which includes a forearm 1 , a wrist 2 mounted on the forearm 1 and rotating, and a claw 3 mounted on the wrist.
[0018] Wherein, the structure of the robot wrist transmission system driven by the hybrid drive to drive the gripper 3 to rotate is: a first motor 4 installed on the forearm 1, a first winding shaft 5 located in the forearm 1 and connected to the first motor 4 1. The first driven shaft 6 located in the wrist 2 and connected to the claw 3; the first winding shaft 5 and the first driven shaft 6 are connected with the first control line 7, and the first winding shaft 5 rotates first The control wire 7 is wound up or unwound on the first winding shaft 5 to drive the first driven shaft 6 to rotate forward or reversely. Through this structure, the rotation of the first motor 4 can be controlled to rotate the gripper 3 through the first control line...
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The invention discloses a combination drive robot wrist transmission system. Rotation of a motor drives a first control wire and a second control wire to wind or uncoil to transmit power so as to allow a gripper to rotate or swing relative to a wrist, the whole wrist is simple and compact in structure, weight of the wrist is reduced by using control wire transmission, gripper flexibility is increased, stable gripper transmission is achieved by control wire transmission, and high adaptability is achieved. Rotation of the wrist relative to a forearm is achieved by traditional gear transmission, the advantages that gear transmission is high in transmission precision and convenient to maintain can be brought into full play, and the gear transmission is suitable for being arranged in forearms with low weight requirements.
Description
technical field [0001] The invention relates to the field of robot design, in particular to a robot wrist transmission system. Background technique [0002] With the development of robots in the direction of high-end, high-precision, and cutting-edge, people continue to break through traditional design concepts and devote themselves to designing robots with flexible movements, small motion inertia, and strong versatility. Industrial robotic arm is an important branch of industrial robot. Its characteristic is that it can complete various expected tasks through programming, and has the advantages of both human and machine in terms of structure and performance. However, the robot wrist is the weakest point of the robotic arm. Although its structural shape is not complicated, because it is arranged at the far end of the robot, where the speed and acceleration are the largest, the inertial force it receives is the largest in the entire mechanism. Therefore, the performance of...
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IPC IPC(8): B25J17/00
Inventor 李成刚张文妍吕根波夏玉辉
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS