Joint mechanism

A joint and through-slot technology, applied in the directions of manipulators, manufacturing tools, joints, etc., can solve the problems that the joint mechanism is difficult to meet the size, error accumulation structural rigidity, and multi-level deceleration at the same time, so as to improve the wearing experience, small axial size, The effect of small accumulation of errors

Active Publication Date: 2015-12-09
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a joint mechanism, which aims to solve the technical problems that the existing joint mechanism is difficult to meet the requirements of small size and large bearing capacity and the accumulation of multi-stage deceleration errors and poor structural rigidity

Method used

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Embodiment Construction

[0026] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0027] see Figure 1 to Figure 4 , the joint mechanism provided by the embodiment of the present invention includes:

[0028] A mounting seat 10 having a through groove 11, the through groove 11 has a first end 11a and a second end 11b oppositely arranged;

[0029] Rotation drive 20, the rotation drive 20 includes a housing 21 connected to the mount 10 and a rotating shaft 22 pivotally connected to the housing 21;

[0030] The harmonic reducer 30, the harmonic reducer 30 includes a flexible spline 31 arranged in the through groove 11, a rigid spline 32 fixedly installed on the first end 11a of th...

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Abstract

The invention belongs to the field of joint structures and particularly relates to a joint mechanism. A mounting seat is taken as a fixed rack, a wave generator of a harmonic reducer is driven by a rotating shaft of a rotating driving element to rotate at a high speed and enables a flexible gear to deform flexibly, the flexible gear is in meshing drive with a rigid gear fixed on the mounting seat, power is output by an output shaft fixed on the flexible gear, and low-speed rotation is performed. The harmonic reducer has the small tooth difference and the high ratio, the axial size is small, and the joint mechanism adopts compact integral structure and has a short driving chain and small error accumulation. The joint mechanism has high structural rigidity and can bear large axial load, radial load, torsional force load, overturning force load and load in a combined form. The joint mechanism is applicable to occasions with the single rotation degree of freedom, when the joint mechanism is applied to a wearable exoskeleton robot, a rotating joint arm is driven directly, the rotating driving element is located on one side of joint rotating sides, so that wearing on the other side is facilitated, and the wearing experience is improved.

Description

technical field [0001] The invention belongs to the field of joint structures, in particular to a joint mechanism. Background technique [0002] In recent decades, robot technology has been developed rapidly and applied to all walks of life and production. Among them, the industrial robot technology used to complete repetitive tasks is the most mature, and the development difficulty is small, especially the proposal of modular reconfigurable robots, so that sometimes only a few modules can be used for simple splicing to integrate a robot that meets the functions . Under the stimulation of social consumption demand and the guidance of policies, the research on intelligent robots is in the ascendant. Among them, the wearable exoskeleton robot, as a highly integrated intelligent robot, has brought good news to paralyzed patients, the infirm and even soldiers. Due to the close contact or connection between it and the human body, there are higher requirements for compact struc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
Inventor 吴新宇张庭吴灿王灿彭安思陈春杰张邵敏胡新鹏廖勇强李畅
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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